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Preparation and performance of soft actuator based on IPMC with silver electrodes

Qi CHEN, Ke XIONG, Kan BIAN, Ning JIN, Bangfeng WANG,

《机械工程前沿（英文）》 2009年 第4卷 第4期   页码 436-440 doi: 10.1007/s11465-009-0054-5

摘要： The surface electrodes of traditional ionic polymer-metal composites (IPMC) are made of platinum. To reduce the production cost, nonprecious metals such as silver is proposed. A new approach of electroless silver plating based on chemical deposition method is adopted, getting two types of IPMCs, Pt-Ag IPMC, and Ag-Ag IPMC. The microscopic analysis, driving abilities tests, and their surface-electrode resistance analysis show that Ag and Pt particles penetrate inside Nafion membrane with gradient distribution throughout the membrane. The maximum electro-active bending deformation angles of the specimens, which are obtained under the same specimen dimension and constrains, are about 60° for Pt-Pt IPMC and Pt-Ag IPMC and 90° for the Ag-Ag IPMC, respectively, corresponding to the driving voltage of 3 V, 4 V, and 1.5 V. The surface-electrode resistance of Ag-Ag IPMC is the lowest and the most stable, which shows that the proposed approach is valid. The experiments show that the IPMC technology based on the silver electrode is feasible.

关键词： ionic polymer-metal composites (IPMC)     Nafion     intelligent material     soft actuators     electroless silver plating    

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Multi-Material magnetic field-assisted additive manufacturing system for flexible actuators with programmable

《机械工程前沿（英文）》 2024年 第19卷 第2期 doi: 10.1007/s11465-024-0788-0

摘要： Manufacturing flexible magnetic-driven actuators with complex structures and magnetic arrangements to achieve diverse functionalities is becoming a popular trend. Among various manufacturing technologies, magnetic-assisted digital light processing (DLP) stands out because it enables precise manufacturing of macro-scale structures and micro-scale distributions with the assistance of an external magnetic field. Current research on manufacturing magnetic flexible actuators mostly employs single materials, which limits the magnetic driving performance to some extent. Based on these characterizations, we propose a multi-material magnetic field-assisted DLP technology to produce flexible actuators with an accuracy of 200 μm. The flexible actuators are printed using two materials with different mechanical and magnetic properties. Considering the interface connectivity of multi-material printing, the effect of interfaces on mechanical properties is also explored. Experimental results indicate good chemical affinity between the two materials we selected. The overlap or connection length of the interface moderately improves the tensile strength of multi-material structures. In addition, we investigate the influence of the volume fraction of the magnetic part on deformation. Simulation and experimental results indicate that increasing the volume ratio (20% to 50%) of the magnetic structure can enhance the responsiveness of the actuator (more than 50%). Finally, we successfully manufacture two multi-material flexible actuators with specific magnetic arrangements: a multi-legged crawling robot and a flexible gripper capable of crawling and grasping actions. These results confirm that this method will pave the way for further research on the precise fabrication of magnetic flexible actuators with diverse functionalities.

关键词： multi-material     magnetic field-assisted manufacturing     digital light processing     flexible actuators     magnetic arrangement    

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A rate-dependent Prandtl-Ishlinskii model for piezoelectric actuators using the dynamic envelope function

Meiju YANG,Chunxia LI,Guoying GU,Limin ZHU

《机械工程前沿（英文）》 2015年 第10卷 第1期   页码 37-42 doi: 10.1007/s11465-015-0326-1

摘要：

In this paper, a novel rate-dependent Prandtl-Ishlinskii (P-I) model is proposed to characterize the rate-dependent hysteresis nonlinearity of piezoelectric actuators. The new model is based on a modified rate-dependent play operator, in which a dynamic envelope function is introduced to replace the input function of the classical play operator. Moreover, a dynamic density function is utilized in the proposed P-I model. The parameters of the proposed model are identified by a modified particle swarm optimization algorithm. Finally, experiments are conducted on a piezo-actuated nanopositioning stage to validate the proposed P-I model under the sinusoidal inputs. The experimental results show that the developed rate-dependent P-I model precisely characterize the rate-dependent hysteresis loops up to 1000 Hz.

关键词： piezoelectric actuators     hysteresis     Prandtl-Ishlinskii     rate-dependent    

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用于电动致动器和传感器的离子弹性体 Review

Chenrun Feng, C.P. Hemantha Rajapaksha, Antal Jákli

《工程（英文）》 2021年 第7卷 第5期   页码 581-602 doi: 10.1016/j.eng.2021.02.014

摘要：

在过去的几十年里，离子导电高分子和弹性体因其在电池、电活性柔性机器人和传感器领域中发挥了自身独特的优势而引起了全世界的关注。研究人员正在研究将具有分散体结构的可拉伸离子弹性体（如离子液体）应用于柔性传感器（如可穿戴设备）中。人们已经对基于离子弹性体的应变、压力和剪切传感器进行了大量的研究，但是到目前为止，此类研究还没有综述文章。本文总结了工业级离子弹性体致动器和传感器的材料和性能。首先，本文综述了三类离子弹性体致动器，即离子聚合物金属复合材料、离子导电聚合物和离子聚合物/碳纳米复合材料，并对未来的致动器进行了展望，如自适应四维（4D）印刷系统和离子液晶弹性体（iLCE）。然后，本文综述了离子弹性体应变和压力传感器的现状，并讨论了用于生物力学和运动行为跟踪的未来可穿戴式应变传感器。最后，本文介绍了基于挠曲电信号的iLCE传感器的初步结果，并将其与有机电化学晶体管集成来达到放大的效果。

关键词： 柔性机器人     离子电活性弹性体     离子弹性体传感器     可编程变形     液晶弹性体    

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Robust isogeometric topology optimization for piezoelectric actuators with uniform manufacturability

《机械工程前沿（英文）》 2022年 第17卷 第2期 doi: 10.1007/s11465-022-0683-5

摘要： Piezoelectric actuators have received substantial attention among the industry and academia due to quick responses, such as high output force, high stiffness, high accuracy, and precision. However, the design of piezoelectric actuators always suffers from the emergence of several localized hinges with only one-node connection, which have difficulty satisfying manufacturing and machining requirements (from the over- or under-etching devices). The main purpose of the current paper is to propose a robust isogeometric topology optimization (RITO) method for the design of piezoelectric actuators, which can effectively remove the critical issue induced by one-node connected hinges and simultaneously maintain uniform manufacturability in the optimized topologies. In RITO, the isogeometric analysis replacing the conventional finite element method is applied to compute the unknown electro elastic fields in piezoelectric materials, which can improve numerical accuracy and then enhance iterative stability. The erode–dilate operator is introduced in topology representation to construct the eroded, intermediate, and dilated density distribution functions by non-uniform rational B-splines. Finally, the RITO formulation for the design of piezoelectric materials is developed, and several numerical examples are performed to test the effectiveness and efficiency of the proposed RITO method.

关键词： piezoelectric actuator     isogeometric topology optimization     uniform manufacturability     robust formulation     density distribution function    

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Review on piezoelectric actuators: materials, classifications, applications, and recent trends

《机械工程前沿（英文）》 2024年 第19卷 第1期 doi: 10.1007/s11465-023-0772-0

摘要： Piezoelectric actuators are a class of actuators that precisely transfer input electric energy into displacement, force, or movement outputs efficiently via inverse piezoelectric effect-based electromechanical coupling. Various types of piezoelectric actuators have sprung up and gained widespread use in various applications in terms of compelling attributes, such as high precision, flexibility of stoke, immunity to electromagnetic interference, and structural scalability. This paper systematically reviews the piezoelectric materials, operating principles, representative schemes, characteristics, and potential applications of each mainstream type of piezoelectric actuator. Herein, we intend to provide a more scientific and nuanced perspective to classify piezoelectric actuators into direct and indirect categories with several subcategories. In addition, this review outlines the pros and cons and the future development trends for all kinds of piezoelectric actuators by exploring the relations and mechanisms behind them. The rich content and detailed comparison can help build an in-depth and holistic understanding of piezoelectric actuators and pave the way for future research and the selection of practical applications.

关键词： piezoelectric actuator     piezoelectric effect     amplified piezoelectric actuator     ultrasonic actuator     stepping actuator     piezoelectric polymer    

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Polymer nanocomposites for microactuation and magneto-electric transduction

Kaori YUSE, Benoit GUIFFARD, Rabah BELOUADAH, Lionel PETIT, Laurence SEVEYRAT, Daniel GUYOMAR

《机械工程前沿（英文）》 2009年 第4卷 第3期   页码 350-354 doi: 10.1007/s11465-009-0056-3

摘要： In the last decade, electroactive polymers have attracted much attention especially because of their very actuating capabilities. Large strain is experimentally observed, but under quite high electrical field, which can be a severe drawback for actuating applications. First part of the present paper is concerned with the reduction of applied field onto electroactive polymer films to get a given strain level. Polyurethane (PU) films filled with carbon black (CB) nanoparticles exhibit relatively high strain level under a field of only 12.5 kV/mm. The simple easy-to-make method solution cast method was applied. Even though the generated stress level is still quite low, the present work shows high strain level under quite low field appliance by easy manufacturing, lightweight, and flexible polymer film. Besides, another interest of the present paper is in magneto-elasto-electric effect of a polymer film filled with some magnetic nano particles. Films filled with nonpiezoelectric but with magnetite particles has still short history. With the use of magneto materials, a large magnetic DC bias field is generally required, and it causes big problem on application. The films filled with some magnetite nanoparticles (Fe3O4 and Nickel) are fabricated then examined. It is clearly demonstrated that our films do not require any DC bias. Although linear polarization value is relatively small, the first step of the studies on magnetite nano-filled film is presented.

关键词： electroactive polymers     carbon filling     actuator     nanocarbon     electromechanical coupling     dielectric polymer actuators     polymer actuators     microactuation     magneto-electric effect    

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鞭毛/纤毛内在驱动机制启发的一体式管状机器人驱动器 Article

苗佳麒, 张铁山, 李根, 郭栋, 孙思琦, 谭蓉, 史家海, 申亚京

《工程（英文）》 2023年 第23卷 第4期   页码 170-180 doi: 10.1016/j.eng.2022.09.014

摘要：

鞭毛和纤毛独特的运动模式（如鞭毛的平面/螺旋波形式推进和纤毛的二维/三维不对称搏动）在众多生物的生命活动中起到至关重要的作用，这也启发了诸多仿生设计，尤其对于微型机器人系统。然而，与自然界中微生物能够从统一化的9 + 2 轴丝生物结构中进化出多种运动模式不同的是，当前的仿生学仍然没有有效的工程策略去实现这样的智慧。在此，我们通过研究鞭毛和纤毛的内部结构及其内在驱动机制，推导出了一个统一的物理模型来描述微管弯曲及其所构建的宏观鞭毛/纤毛运动。基于该模型，我们进而提出了基于三通道的管状驱动概念，并相应地通过杆嵌入铸造工艺制造了一个三通道的管状驱动器。通过编程不同通道的驱动模式，这一管状驱动器不仅可以再现自然界中多样的二维及三维鞭毛/纤毛运动，还可以延展出更多的非对称纤毛搏动模式以实现低雷诺数下的有效推进。该研究加深了我们对微生物推进机制的理解，为仿生系统的设计提供了新灵感，并有望在广泛的工程领域中寻找到重要的应用场景。

关键词： 仿生系统     软体驱动器     9 + 2结构     人工纤毛     低雷诺数    

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Development of soft kernel durum wheat

Craig F. MORRIS

《农业科学与工程前沿（英文）》 2019年 第6卷 第3期   页码 273-278 doi: 10.15302/J-FASE-2019259

摘要：

Kernel texture (grain hardness) is a fundamental and determining factor related to wheat ( spp.) milling, baking and flour utilization. There are three kernel texture classes in wheat: soft and hard hexaploid ( ), and very hard durum ( subsp. ). The genetic basis for these three classes lies with the Puroindoline genes. Phenotypically, the easiest means of quantifying kernel texture is with the Single Kernel Characterization System (SKCS), although other means are valid and can provide fundamental material properties. Typical SKCS values for soft wheat would be around 25 and for durum wheat≥80. Soft kernel durum wheat was created via homeologous recombination using the mutation, which facilitated the transfer of ca. 28 Mbp of 5DS that replaced ca. 21 Mbp of 5BS. The 5DS translocation contained a complete and intact locus and both puroindoline genes. Expression of the puroindoline genes in durum grain resulted in kernel texture and flour milling characteristics nearly identical to that of soft wheat, with high yields of break and straight-grade flours, which had small particle size and low starch damage. Dough water absorption was markedly reduced compared to durum flour and semolina. Dough was essentially unchanged and reflected the inherent gluten properties of the durum background. Pasta quality was essentially equal-to-or-better than pasta made from semolina. Agronomically, soft durum germplasm showed good potential with moderate grain yield and resistance to a number of fungal pathogens and insects. Future breeding efforts will no doubt further improve the quality and competitiveness of soft durum cultivars.

关键词： soft durum wheat     grain hardness     puroindolines     milling     baking     pasta     noodles    

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Semi-active vibration control using piezoelectric actuators in smart structures

Jinhao QIU, Hongli JI, Kongjun ZHU

《机械工程前沿（英文）》 2009年 第4卷 第3期   页码 242-251 doi: 10.1007/s11465-009-0068-z

摘要： The piezoelectric materials, as the most widely used functional materials in smart structures, have many outstanding advantages for sensors and actuators, especially in vibration control, because of their excellent mechanical-electrical coupling characteristics and frequency response characteristics. Semi-active vibration control based on state switching and pulse switching has been receiving much attention over the past decade because of several advantages. Compared with standard passive piezoelectric damping, these new semi-passive techniques offer higher robustness. Compared with active damping systems, their implementation does not require any sophisticated signal processing systems or any bulky power amplifier. In this review article, the principles of the semi-active control methods based on switched shunt circuit, including state-switched method, synchronized switch damping techniques, and active control theory-based switching techniques, and their recent developments are introduced. Moreover, the future directions of research in semi-active control are also summarized.

关键词： smart structure     semi-active method     vibration control     piezoelectric actuator    

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Performance of soft-hard-soft (SHS) cement based composite subjected to blast loading with consideration

Jun WU,Xuemei LIU

《结构与土木工程前沿（英文）》 2015年 第9卷 第3期   页码 323-340 doi: 10.1007/s11709-015-0301-2

摘要： This paper presents a combined experimental and numerical study on the damage and performance of a soft-hard-soft (SHS) multi-layer cement based composite subjected to blast loading which can be used for protective structures and infrastructures to resist extreme loadings, and the composite consists of three layers of construction materials including asphalt concrete (AC) on the top, high strength concrete (HSC) in the middle, and engineered cementitious composites (ECC) at the bottom. To better characterize the material properties under dynamic loading, interface properties of the composite were investigated through direct shear test and also used to validate the interface model. Strain rate effects of the asphalt concrete were also studied and both compressive and tensile dynamic increase factor (DIF) curves were improved based on split Hopkinson pressure bar (SHPB) test. A full-scale field blast test investigated the blast behavior of the composite materials. The numerical model was established by taking into account the strain rate effect of all concrete materials. Furthermore, the interface properties were also considered into the model. The numerical simulation using nonlinear finite element software LS-DYNA agrees closely with the experimental data. Both the numerical and field blast test indicated that the SHS composite exhibited high resistance against blast loading.

关键词： high strength concrete (SHS)     engineered cementitious composite     interface     blast test     strain rate effect    

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Visualizing unleashed latent heat of liquid metal for soft intelligence

《能源前沿（英文）》 doi: 10.1007/s11708-024-0951-7

摘要： Visualizing unleashed latent heat of liquid metal for soft intelligence

关键词： metal intelligence    

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Design and modeling of a novel soft parallel robot driven by endoskeleton pneumatic artificial muscles

《机械工程前沿（英文）》 2022年 第17卷 第2期 doi: 10.1007/s11465-022-0678-2

摘要： Owing to their inherent great flexibility, good compliance, excellent adaptability, and safe interactivity, soft robots have shown great application potential. The advantages of light weight, high efficiency, non-polluting characteristic, and environmental adaptability provide pneumatic soft robots an important position in the field of soft robots. In this paper, a soft robot with 10 soft modules, comprising three uniformly distributed endoskeleton pneumatic artificial muscles, was developed. The robot can achieve flexible motion in 3D space. A novel kinematic modeling method for variable-curvature soft robots based on the minimum energy method was investigated, which can accurately and efficiently analyze forward and inverse kinematics. Experiments show that the robot can be controlled to move to the desired position based on the proposed model. The prototype and modeling method can provide a new perspective for soft robot design, modeling, and control.

关键词： pneumatic artificial muscles     soft robot     modeling approach     principle of virtual work     external load    

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Online soft measurement for wastewater treatment system based on hybrid deep learning

《环境科学与工程前沿（英文）》 2024年 第18卷 第2期 doi: 10.1007/s11783-024-1780-y

摘要：

● A hybrid model is proposed to overcome limitations of single model with time series.

关键词： Prediction model     Soft measurement     CNN-BNLSTM-AM model     TPE optimization algorithm    

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Design and experiment of a novel pneumatic soft arm based on a deployable origami exoskeleton

《机械工程前沿（英文）》 2023年 第18卷 第4期 doi: 10.1007/s11465-023-0770-2

摘要： Soft arms have shown great application potential because of their flexibility and compliance in unstructured environments. However, soft arms made from soft materials exhibit limited cargo-loading capacity, which restricts their ability to manipulate objects. In this research, a novel soft arm was developed by coupling a rigid origami exoskeleton with soft airbags. The joint module of the soft arm was composed of a deployable origami exoskeleton and three soft airbags. The motion and load performance of the soft arm of the eight-joint module was tested. The developed soft arm withstood at least 5 kg of load during extension, contraction, and bending motions; exhibited bistable characteristics in both fully contracted and fully extended states; and achieved a bending angle of more than 240° and a contraction ratio of more than 300%. In addition, the high extension, contraction, bending, and torsional stiffnesses of the soft arm were experimentally demonstrated. A kinematic-based trajectory planning of the soft arm was performed to evaluate its error in repetitive motion. This work will provide new design ideas and methods for flexible manipulation applications of soft arms.

关键词： pneumatic soft arm     soft airbag     deployable origami exoskeleton     bistable characteristics     cargo-loading capacity    

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标题 作者 时间 类型 操作

Preparation and performance of soft actuator based on IPMC with silver electrodes

Qi CHEN, Ke XIONG, Kan BIAN, Ning JIN, Bangfeng WANG,

期刊论文

Multi-Material magnetic field-assisted additive manufacturing system for flexible actuators with programmable

期刊论文

A rate-dependent Prandtl-Ishlinskii model for piezoelectric actuators using the dynamic envelope function

Meiju YANG,Chunxia LI,Guoying GU,Limin ZHU

期刊论文

用于电动致动器和传感器的离子弹性体

Chenrun Feng, C.P. Hemantha Rajapaksha, Antal Jákli

期刊论文

Robust isogeometric topology optimization for piezoelectric actuators with uniform manufacturability

期刊论文

Review on piezoelectric actuators: materials, classifications, applications, and recent trends

期刊论文

Polymer nanocomposites for microactuation and magneto-electric transduction

Kaori YUSE, Benoit GUIFFARD, Rabah BELOUADAH, Lionel PETIT, Laurence SEVEYRAT, Daniel GUYOMAR

期刊论文

鞭毛/纤毛内在驱动机制启发的一体式管状机器人驱动器

苗佳麒, 张铁山, 李根, 郭栋, 孙思琦, 谭蓉, 史家海, 申亚京

期刊论文

Development of soft kernel durum wheat

Craig F. MORRIS

期刊论文

Semi-active vibration control using piezoelectric actuators in smart structures

Jinhao QIU, Hongli JI, Kongjun ZHU

期刊论文

Performance of soft-hard-soft (SHS) cement based composite subjected to blast loading with consideration

Jun WU,Xuemei LIU

期刊论文

Visualizing unleashed latent heat of liquid metal for soft intelligence

期刊论文

Design and modeling of a novel soft parallel robot driven by endoskeleton pneumatic artificial muscles

期刊论文

Online soft measurement for wastewater treatment system based on hybrid deep learning

期刊论文

Design and experiment of a novel pneumatic soft arm based on a deployable origami exoskeleton

期刊论文