Research On A Soft Robot Driven By Humidity In A Constant Temperature Environment

Compared with rigid robots,soft robots have safe interaction and compatibility with humans and animals,can adapt to the surrounding environment and have the ability to resist impacts and have attracted much attention.Perform complex motions through simple drive inputs,follow arbitrary geometric shapes,and perform multi-gait propulsion.The exploration of environmental humidity-driven soft robots is an important research direction in the current soft robot field.At present,results have been achieved in the preparation of humidity-responsive smart materials,but most of the smart materials that sensitively respond to humidity are very thin,have small driving torque and simple structure,and most of them need to alternately change environmental conditions to achieve directional driving.Based on this,this article proposes an actuator that is driven by humidity,has a large driving torque and can move in a stable environment.The specific work is as follows:The deformation mechanism of sulfuric acid paper under asymmetric humidity conditions was analyzed.However,asymmetrical conditions are required,and a two-layer material based on sulfuric acid paper and silicone rubber Ecoflex00-30 is prepared by single-sided deposition,which can deform in a stable environment.The surface microstructure of the two-layer material was characterized and different movement modes were obtained according to the fiber arrangement of the sulfuric acid paper.Experiments show that the double-layer actuator can respond to humidity.Based on the derivation of the theoretical formula and simulation of Ansys Workbench,the first equilibrium bending curvature and the second equilibrium bending curvature of the double-layer material in water are verified.The results are consistent with the experiment.The maximum bending curvature can achieve 5cm^-1.In addition,the double-layer actuator can obtain different motion modes through programming in the thickness direction;the actuator can be placed in the water to achieve the task of grasping objects of different shapes,and the actuator can achieve a maximum of 90 times its own weight.The double-layer actuator is further designed.a untethered soft wheeled robot that can be driven by humidity in a constant temperature environment is proposed.Based on the temperature and humidity effect deformation mechanism of sulfuric acid paper and Ecoflex00-30,it realizes robot directional rolling control in a stable temperature environment.Paste the four soft blades cut based on the double-layer actuator on the roller,and realize the control of the active propulsion of the wheel structure through the controllable deformation of the four soft blades under the temperature and humidity environment.The design of wheel blade size,driving torque,and analysis of evaporation experiment conditions were studied,and the dynamics of the robot was modeled and analyzed.A physical prototype was made and a rolling test is carried out.Experiments show that from the initial state of a given drive blade,the wheel moves about 85mm in 55s.Furthermore,a two-wheel drive trolley by connecting two drive wheels with the drive blades in a staggered phase in series and a six-blade wheeled robot were made,which verified the feasibility of the design.Last,this article also demonstrates the cube self-folding shape pattern.The self-folding structure is made quickly using cheap materials and tools.The folding mechanism of sulfuric acid paper based in plane expansion was modeled and analyzed by Ansys Workbench,and the material design parameters for self-folding into the target shape were described.The research results were of great significance to the design of new type of temperature and humidity control untethered soft robots and soft machines.