摘要
基于水凝胶致动器的柔性抓取器由于具有刺激响应性的抓取和释放能力而受到广泛关注.然而,水凝胶抓取器力学性能通常较差,难以抓取较重的物体.本文介绍了一种具有自锁定能力的双层水凝胶抓手,它以含有微凝胶的聚N-异丙基丙烯酰胺(PNIPAm)水凝胶层为驱动层,实现抓取动作;以聚丙烯酸-醋酸钙(PAA-Ca(CH_(3)COO)_(2))水凝胶层为热致硬化层,通过提高PAA-(CH_(3)COO)_(2)层的模量来锁定抓取动作,因而水凝胶抓手可以提起自身重量500倍的重物.此外,软抓手还能在各种抓取模式下工作.本文有望为构建具有强抓取能力的软质致动器提供新的思路.
Soft grippers based on hydrogel actuators have aroused considerable attention due to their stimuli-responsive grasping and releasing capacity.However,it remains a significant challenge for hydrogel grippers to achieve robust grasping.Herein,we present a bilayer hydrogel gripper with a microgel-containing poly(N-isopropylacrylamide)(PNIPAm)hydrogel layer as the actuating layer and a poly(acrylic acid)-calcium acetate(PAA-Ca(CH_(3)COO)_(2))hydrogel layer as the thermo-hardening layer.The soft gripper can perform the grabbing action owing to the contraction of the PNIPAm composite layer.Subsequently,the grab action can be locked by enhancing the stiffness of the PAA-Ca(CH_(3)COO)_(2) layer,and the hydrogel gripper can lift up to 500 times its own weight.Moreover,the soft gripper is capable of working in various grasp modes,demonstrating its robustness in versatile tasks.The presented strategy is expected to open a new avenue for enhancing the grasp force of soft actuators.
作者
李海群
海楠
吴欣俊
袁之叶
陈熙
张佳玮
Haiqun Li;Nan Hai;Xinjun Wu;Zhiye Yuan;Xi Chen;Jiawei Zhang(School of Material Science and Engineering,Tiangong University,Tianjin 300387,China;School of Materials Science&Chemical Engineering,Ningbo University,Ningbo 315211,China)
基金
supported by the National Natural Science Foundation of China(52373118).
