CN114810525B - A flexible actuator with reconfigurable deformation and self-locking shape and 4D printing method thereof - Google Patents
A flexible actuator with reconfigurable deformation and self-locking shape and 4D printing method thereof Download PDFInfo
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- CN114810525B CN114810525B CN202210457692.7A CN202210457692A CN114810525B CN 114810525 B CN114810525 B CN 114810525B CN 202210457692 A CN202210457692 A CN 202210457692A CN 114810525 B CN114810525 B CN 114810525B
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- 238000007639 printing Methods 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 title claims abstract description 25
- 229920000642 polymer Polymers 0.000 claims abstract description 61
- 229910045601 alloy Inorganic materials 0.000 claims abstract description 56
- 239000000956 alloy Substances 0.000 claims abstract description 56
- 238000000576 coating method Methods 0.000 claims abstract description 19
- 239000000853 adhesive Substances 0.000 claims abstract description 18
- 230000001070 adhesive effect Effects 0.000 claims abstract description 18
- 239000011248 coating agent Substances 0.000 claims abstract description 18
- 239000004973 liquid crystal related substance Substances 0.000 claims abstract description 3
- 239000004997 Liquid crystal elastomers (LCEs) Substances 0.000 claims description 28
- 239000007788 liquid Substances 0.000 claims description 14
- 238000002844 melting Methods 0.000 claims description 14
- 229920001690 polydopamine Polymers 0.000 claims description 14
- 230000008018 melting Effects 0.000 claims description 13
- 239000002002 slurry Substances 0.000 claims description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 9
- 239000000243 solution Substances 0.000 claims description 8
- CTENFNNZBMHDDG-UHFFFAOYSA-N Dopamine hydrochloride Chemical compound Cl.NCCC1=CC=C(O)C(O)=C1 CTENFNNZBMHDDG-UHFFFAOYSA-N 0.000 claims description 6
- 239000007983 Tris buffer Substances 0.000 claims description 6
- 229960001149 dopamine hydrochloride Drugs 0.000 claims description 6
- LENZDBCJOHFCAS-UHFFFAOYSA-N tris Chemical compound OCC(N)(CO)CO LENZDBCJOHFCAS-UHFFFAOYSA-N 0.000 claims description 6
- 238000010438 heat treatment Methods 0.000 claims description 5
- 230000001678 irradiating effect Effects 0.000 claims description 4
- 229910001128 Sn alloy Inorganic materials 0.000 claims description 3
- KHZAWAWPXXNLGB-UHFFFAOYSA-N [Bi].[Pb].[Sn] Chemical compound [Bi].[Pb].[Sn] KHZAWAWPXXNLGB-UHFFFAOYSA-N 0.000 claims description 3
- 230000008602 contraction Effects 0.000 claims description 3
- 239000008367 deionised water Substances 0.000 claims description 3
- 229910021641 deionized water Inorganic materials 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 239000013464 silicone adhesive Substances 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 238000004806 packaging method and process Methods 0.000 claims description 2
- 239000003513 alkali Substances 0.000 claims 2
- 238000005452 bending Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 239000011664 nicotinic acid Substances 0.000 description 3
- 210000000988 bone and bone Anatomy 0.000 description 2
- 230000005684 electric field Effects 0.000 description 2
- 230000031700 light absorption Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 229920001940 conductive polymer Polymers 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000003618 dip coating Methods 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 1
- 210000002027 skeletal muscle Anatomy 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
- B22F10/20—Direct sintering or melting
- B22F10/22—Direct deposition of molten metal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/10—Processes of additive manufacturing
- B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/30—Auxiliary operations or equipment
- B29C64/379—Handling of additively manufactured objects, e.g. using robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y10/00—Processes of additive manufacturing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y40/00—Auxiliary operations or equipment, e.g. for material handling
- B33Y40/20—Post-treatment, e.g. curing, coating or polishing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y70/00—Materials specially adapted for additive manufacturing
- B33Y70/10—Composites of different types of material, e.g. mixtures of ceramics and polymers or mixtures of metals and biomaterials
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Materials Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Optics & Photonics (AREA)
- Structural Engineering (AREA)
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- Civil Engineering (AREA)
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Abstract
A flexible actuator capable of being deformed by reconstruction and self-locking in shape and a 4D printing method thereof are provided, wherein the flexible actuator comprises a tubular polymer, the middle part of the tubular polymer is filled with low-melting-point alloy, the inside of the tubular polymer at two ends of the low-melting-point alloy is encapsulated by an adhesive, one layer of outside coating is arranged at the outer side of the tubular polymer, the 4D printing method comprises the steps of coaxially 4D printing the tubular polymer and the low-melting-point alloy, then encapsulating the adhesive at two ends, then performing single-domain treatment on LCE (liquid crystal elastic polymer) and finally performing surface coating treatment on the tubular polymer.
Description
Technical Field
The invention belongs to the technical field of bionic manufacturing in micro-nano engineering, and particularly relates to a flexible actuator capable of being deformed in a reconfigurable mode and self-locking in shape and a 4D printing method thereof.
Background
The flexible actuator has important application value in the fields of medical application, auxiliary work, bionic movement and the like due to the characteristics of softness and biological friendliness, and the ideal flexible actuator has the characteristics of large deformation, large force, reversible deformation, quick response, less energy consumption, repeated times and accurate control.
Presently, flexible actuators typically employ a polymer or shape memory alloy as the material that is capable of deforming under external stimuli (e.g., magnetic, thermal, optical, electrical, etc.). Flexible actuators made of ferroelectric polymers can reach stress of 45MPa and stiffness of 400MPa, but usually require voltage drive of more than 1kV and are easy to yield, flexible actuators made of liquid crystal elastomers have good response time (10 ms when electric field is driven), large strain (4% when electric field is driven, up to 45% when heat is driven), but low efficiency and generally slow thermal deformation, flexible actuators made of conductive polymers have stress of maximum 34MPa (general state up to 5 MPa), can work at low voltage (around 2V), stiffness up to 1GPa, but slow deformation and need encapsulation. However, the skeletal muscle of the living beings is attached to the bones, and the posture is kept in the actuation process by means of the high rigidity of the bones, so that the shape self-locking can be kept with high rigidity, and the action control of the living beings is ensured.
While most flexible actuators achieve even far beyond the performance of biological muscles in terms of deformation and stress, they often fail to ensure shape when the external field loading is removed during deformation, requiring a continuous supply of external energy, which can affect the flexible actuator's practical application. How to realize a flexible actuator with shape self-locking properties remains a big problem for its engineering application.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a flexible actuator capable of reconstructing deformation and self-locking shape and a 4D printing method thereof, which realize self-locking shape after deformation.
In order to achieve the above purpose, the invention adopts the following technical scheme:
A flexible actuator capable of being deformed in a reconstruction mode and self-locking in shape comprises a tubular polymer 1, wherein the middle part of the tubular polymer 1 is filled with a low-melting-point alloy 2, the inside of the tubular polymer 1 at two ends of the low-melting-point alloy 2 is encapsulated by an adhesive 3, and an outside coating 4 is arranged on the outer side of the tubular polymer 1.
The tubular polymer 1 is a Liquid Crystal Elastomer (LCE), the low-melting-point alloy 2 is bismuth-lead-tin alloy with a melting point slightly higher than the contraction actuation temperature of the LCE, the adhesive 3 is silicone adhesive, and the outer coating 4 is a Polydopamine (PDA) coating.
When the flexible actuator is in an initial state, the shape of the whole flexible actuator is kept due to the high rigidity of the low melting point alloy 2 of the inner layer, when the near infrared laser source 9 irradiates the part of the tubular polymer 1, the light absorption and heating characteristics of the outer side coating 4 are utilized to drive the local shrinkage deformation of the thermally actuated tubular polymer 1, the continuous irradiation leads the low melting point alloy 2 to be melted when the temperature is increased, the local shrinkage deformation of the tubular polymer 1 can be represented as the local bending of the integral structure, the controllable driving of the flexible actuator under the light modulation is realized, then the near infrared laser source 9 is removed, the temperature is reduced, the low melting point alloy 2 is firstly solidified, the integral structure is kept in the deformed shape, the rigidity of the low melting point alloy 2 is kept, the shape self-locking of the flexible actuator after the deformation is realized, the complex deformation such as multiple bending, double-side bending and the like is realized through the method of irradiating different positions after the deformation is completed, the bending of the other side of the flexible actuator is realized through the irradiation of the near infrared laser source 9 at the other position.
A 4D printing method of a reconfigurable deformation and shape self-locking flexible actuator, comprising the steps of:
The first step, the coaxial 4D printing technology of the tubular polymer 1 and the low-melting-point alloy 2 comprises the steps that a printing head 5 used for a 4D printing method is divided into an inner layer and an outer layer, LCE prepolymer slurry is filled in the outer layer, liquid low-melting-point alloy 2 is filled in the inner layer, and the liquid low-melting-point alloy 2 is kept in a liquid state under the heating action of the printing head 5, in the printing process, the LCE prepolymer slurry and the liquid low-melting-point alloy 2 are coaxially printed on a plane 6 in the form of the low-melting-point alloy in the outer layer, and are printed into a target shape in the mode of Direct Ink Writing (DIW) printing, then the LCE prepolymer slurry is cooled on the plane 6 to form the tubular polymer 1, and the liquid low-melting-point alloy 2 is cooled on the plane 6 to form the solid low-melting-point alloy 2, so that the tubular polymer 1 filled with the low-melting-point alloy 2 is obtained;
Second, packaging the two-end adhesive 3, namely sealing the openings at two ends of the tubular polymer 1 filled with the low-melting-point alloy 2 by using the adhesive 3, and placing the tubular polymer in air until the adhesive 3 is solidified;
Thirdly, performing single-domain treatment on the liquid crystal elastic polymer LCE, namely irradiating the obtained tubular polymer 1 filled with the low-melting-point alloy 2 with 365nm ultraviolet light 7 for 5-15 min to single-domain the LCE;
and fourthly, performing surface coating treatment on the tubular polymer 1, namely immersing the tubular polymer 1 in a PDA solution 8 for 24-48 h, wherein the PDA solution 8 is a PDA solution prepared by dissolving dopamine hydrochloride and Tris base in water, wherein the dopamine hydrochloride is 0.2g (1.05 mmol), the Tris base is 0.1g (0.83 mmol) and the water is 100mL, then flushing with deionized water for three times, and airing to obtain the tubular polymer of the PDA coating, namely the flexible actuator capable of reconstructing deformation and self-locking shape.
The invention has the beneficial effects that the flexible actuator capable of reconstructing deformation and shape self-locking realizes the shape self-locking of the flexible actuator after deformation by utilizing the thermal deformation of the liquid crystal elastomer and the high rigidity of the low-melting point alloy, and the 4D printing method of the flexible actuator capable of reconstructing deformation and shape self-locking realizes the accurate and controllable manufacture of the inner and outer structures by adopting the technical means based on the ink direct writing technology, dip coating and the like.
Drawings
Fig. 1-1 is a schematic three-dimensional cross-sectional view of a flexible actuator capable of being deformed and self-locked in shape according to the present invention, and fig. 1-2 is a schematic two-dimensional cross-sectional view of a flexible actuator capable of being deformed and self-locked in shape according to the present invention.
Fig. 2-1 is a schematic diagram of deformation of the flexible actuator capable of being deformed and self-locked in shape when being locally irradiated by laser, and fig. 2-2 is a schematic diagram of deformation of the flexible actuator capable of being deformed and self-locked in shape when being irradiated by laser after one deformation at another position.
Fig. 3 is a schematic diagram of a 4D printing method of the reconfigurable deformation and shape self-locking flexible actuator of the present invention.
Fig. 4 is a schematic representation of the present invention encapsulated with adhesive at both ends in a tubular polymer.
FIG. 5 is a schematic representation of the monodomain process of the tubular polymer of the present invention.
Fig. 6 is a schematic illustration of the present invention in a surface coating process of a flexible actuator.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
Referring to fig. 1-1 and 1-2, a flexible actuator based on reconfigurable deformation and shape self-locking comprises a tubular polymer 1, wherein the middle part of the tubular polymer 1 is filled with a low-melting-point alloy 2, the inside of the tubular polymer 1 at two ends of the low-melting-point alloy 2 is encapsulated by an adhesive 3, and an outside coating 4 is arranged on the outside of the tubular polymer 1.
The tubular polymer 1 is a Liquid Crystal Elastomer (LCE), the low-melting-point alloy 2 is a low-melting-point alloy such as bismuth-lead-tin alloy with a melting point slightly higher than the contraction actuation temperature of the LCE, the adhesive 3 is a material for adhesion such as silicone adhesive, and the outer coating 4 is a photo-thermal material such as a Polydopamine (PDA) coating.
When the flexible actuator is in an initial state, the whole flexible actuator keeps the shape due to the high rigidity of the low-melting-point alloy 2 and is not deformed due to self weight, stretching and the like, as shown in fig. 1-1, when the near infrared laser source 9 irradiates the part of the tubular polymer 1, the light absorption and heating characteristics of the outer coating 4 are utilized to drive the local shrinkage deformation of the thermally actuated tubular polymer 1, the low-melting-point alloy 2 is melted due to the fact that the melting point of the low-melting-point alloy 2 is higher than the isotropic transition temperature of the tubular polymer 1, the local shrinkage deformation of the tubular polymer 1 can be shown as bending of the whole structure at the part, as shown in fig. 2-1, the controllable driving of the flexible actuator under the light regulation is realized, then the near infrared laser source 9 is removed, the low-melting-point alloy 2 is solidified due to the fact that the melting point of the low-melting-point alloy 2 is higher than the isotropic transition temperature of the liquid crystal elastomer, the temperature is reduced, the whole structure is kept in the deformed shape, the rigidity of the low-melting-point alloy 2 can be kept by the rigidity of the low-melting-point alloy 2, the shape self-locking of the flexible actuator after the deformation is realized, after the deformation is completed, the bending method at different positions can be irradiated, the bending method at different positions can be realized, the bending position, the flexible actuator can be realized at the other side can be realized through the complicated bending, and the other side, as shown in the flexible actuator can be realized, and the flexible actuator can be deformed at the other side, and the position can be realized through the flexible position, and the flexible actuator can be realized through the complicated bending position, and the flexible state shown as shown in fig. 2 and the other side 2 is shown fig. 2.
A 4D printing method of a reconfigurable deformation and shape self-locking flexible actuator, comprising the steps of:
In a first step, a coaxial 4D printing technique of a tubular polymer 1 and a low melting point alloy 2, a printing head 5 for a 4D printing method is divided into an inner layer and an outer layer, wherein the outer layer is filled with LCE prepolymer slurry, the inner layer is filled with the liquid low melting point alloy 2, and the liquid low melting point alloy 2 is kept under the heating action of the printing head 5. In the printing process, the LCE prepolymer slurry and the liquid low-melting-point alloy 2 are coaxially printed on a plane 6 in the form of an inner low-melting-point alloy of an outer LCE layer and are printed into a target shape in a direct-writing-in-ink (DIW) printing mode, then the LCE prepolymer slurry is cooled on the plane 6 to form a tubular polymer 1, the liquid low-melting-point alloy 2 is cooled on the plane 6 to form a solid low-melting-point alloy 2, and the tubular polymer 1 filled with the low-melting-point alloy 2 is obtained as shown in fig. 3;
second, the two-end adhesive 3 is encapsulated by sealing the openings with the adhesive 3 at the two ends of the tubular polymer 1 filled with the low melting point alloy 2, and placing in the air until the adhesive 3 is solidified, as shown in fig. 4;
The third step, the single-domain treatment of the LCE comprises the steps of irradiating the obtained tubular polymer 1 filled with the low-melting-point alloy 2 with 365nm ultraviolet light 7 for 5-15 min to single-domain the LCE, as shown in figure 5;
Fourthly, the surface coating of the tubular polymer 1 is treated by immersing the tubular polymer 1 in a PDA solution 8 for 24-48 h, as shown in figure 6, wherein the PDA solution 8 is a PDA solution prepared by dissolving dopamine hydrochloride and Tris base in water, 0.2g (1.05 mmol) of dopamine hydrochloride, 0.1g (0.83 mmol) of Tris base and 100mL of water, then washing with deionized water for three times, and airing to obtain the tubular polymer of the PDA coating, namely the flexible actuator capable of reconstructing deformation and self-locking shape.
The flexible actuator structure capable of reconstructing deformation and self-locking shape, which is designed by the invention, solves the problem that the shape of the traditional flexible actuator cannot be maintained after deformation, realizes accurate and controllable manufacturing of the design structure by utilizing a 4D printing process, and can meet the wide demands of the medical and bionic fields.
Claims (1)
1. A4D printing method of a flexible actuator capable of being deformed in a reconstruction mode and self-locking in shape is characterized by comprising a tubular polymer (1), wherein low-melting-point alloy (2) is filled in the middle of the tubular polymer (1), the inside of the tubular polymer (1) at two ends of the low-melting-point alloy (2) is encapsulated by an adhesive (3), and an outside coating (4) is arranged on the outer side of the tubular polymer (1);
The tubular polymer (1) is a liquid crystal elastomer LCE, the low-melting-point alloy (2) is bismuth-lead-tin alloy with a melting point slightly higher than the contraction actuation temperature of the LCE, the adhesive (3) is silicone adhesive, and the outer coating (4) is a Polydopamine (PDA) coating;
the 4D printing method comprises the following steps:
The coaxial 4D printing technology of the tubular polymer (1) and the low-melting-point alloy (2) comprises the steps that a printing head (5) for a 4D printing method is divided into an inner layer and an outer layer, LCE prepolymer slurry is filled in the outer layer, liquid low-melting-point alloy (2) is filled in the inner layer, the liquid low-melting-point alloy (2) is kept under the heating action of the printing head (5), in the printing process, the LCE prepolymer slurry and the liquid low-melting-point alloy are coaxially printed on a plane (6) in the form of the low-melting-point alloy in the outer layer, the liquid low-melting-point alloy is printed into a target shape in the form of Direct Ink Writing (DIW) printing, then the LCE prepolymer slurry is cooled on the plane (6) to form the tubular polymer (1), and the liquid low-melting-point alloy is cooled on the plane (6) to form the solid low-melting-point alloy (2), so that the tubular polymer (1) filled with the low-melting-point alloy (2) in the inner layer is obtained;
Second, packaging the two-end adhesive (3), namely sealing the opening at two ends of the tubular polymer (1) filled with the low-melting-point alloy (2) by using the adhesive (3), and placing in air until the adhesive is solidified;
The third step, the single-domain treatment of the liquid crystal elastic polymer LCE comprises the steps of irradiating the obtained tubular polymer (1) filled with the low-melting-point alloy (2) with 365nm ultraviolet light (7) for 5-15 min to single-domain the LCE;
fourthly, the surface coating of the tubular polymer (1) is treated by immersing the tubular polymer (1) in a Polydopamine (PDA) solution (8) for 24-48 h, wherein the Polydopamine (PDA) solution (8) is prepared by dissolving dopamine hydrochloride and Tris alkali in water, 0.2g (1.05 mmol) of dopamine hydrochloride, 0.1g (0.83 mmol) of Tris alkali and 100. 100 mL of water are obtained, and then the tubular polymer is washed three times by deionized water and dried to obtain the Polydopamine (PDA) coated tubular polymer, namely the flexible actuator capable of being restructured and deformed and self-locking in shape.
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| CN102678496A (en) * | 2011-03-16 | 2012-09-19 | 通用汽车环球科技运作有限责任公司 | Shape memory alloy with enhanced heat transfer characteristics |
| CN107201996A (en) * | 2017-06-07 | 2017-09-26 | 中国科学技术大学 | The preparation method of photic dynamic laminated film, photic dynamic laminated film and optical actuator |
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| US10113537B2 (en) * | 2016-04-08 | 2018-10-30 | Ecole Polytechnique Federale De Lausanne (Epfl) | Variable stiffness device and method of manufacturing the same |
| US10254499B1 (en) * | 2016-08-05 | 2019-04-09 | Southern Methodist University | Additive manufacturing of active devices using dielectric, conductive and magnetic materials |
| WO2019194748A1 (en) * | 2018-04-04 | 2019-10-10 | Singapore University Of Technology And Design | Systems and methods for 3d printing of soft composite actuators and four dimensional devices |
| CN109733497B (en) * | 2018-12-29 | 2020-05-26 | 西安交通大学 | Crawling software machine based on shape memory alloy and driving method thereof |
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| CN113667135B (en) * | 2021-08-20 | 2022-06-17 | 郑州大学 | Preparation method of intrinsic carbon nanotube/liquid crystal elastomer and application of intrinsic carbon nanotube/liquid crystal elastomer in actuator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102678496A (en) * | 2011-03-16 | 2012-09-19 | 通用汽车环球科技运作有限责任公司 | Shape memory alloy with enhanced heat transfer characteristics |
| CN107201996A (en) * | 2017-06-07 | 2017-09-26 | 中国科学技术大学 | The preparation method of photic dynamic laminated film, photic dynamic laminated film and optical actuator |
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