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Design principles for non-reciprocal photomechanical actuation.
Soft Matter ( IF 2.9 ) Pub Date : 2020-06-09 , DOI: 10.1039/d0sm00624f
Markus Lahikainen 1 , Hao Zeng , Arri Priimagi
Affiliation  

Non-reciprocal motions are a sequence of movements exhibiting time-reversal asymmetry. Such movements are common among various natural species, being adopted as a typical strategy for achieving efficient locomotion. Generally, the realization of non-reciprocal motions in man-made robotic devices requires synchronous control of at least two individual actuators, hence posing challenges to soft micro-robotics where the miniaturization limits integration of different mechanical components and the possibility of using onboard batteries. Here, we introduce general concepts for achieving non-reciprocal movements in wirelessly controlled soft actuators made of photomechanically responsive liquid crystal networks. The monolithic actuators are composed of two segments that can be actuated photochemically and photothermally, and the non-reciprocal motion is obtained by a control sequence that temporally modulates light sources of different wavelengths. Through proper selection of photoactive compounds, the number of modulated light sources can be decreased, from three to two, and eventually to one. Finally, we demonstrate non-reciprocal self-oscillation by self-shadowing effect in a flexible strip under a constant light field with no temporal modulation. This study provides general guidelines to light-controlled non-reciprocal actuation, offering new strategies for the control of wireless soft micro-robotics.

中文翻译:

不可逆光机械致动的设计原理。

非往复运动是一系列显示时间反向不对称的运动。这种运动在各种自然物种中很常见,被当作实现有效运动的典型策略。通常,在人造机器人设备中实现非往复运动需要至少两个单独的致动器的同步控制,因此对软微型机器人提出了挑战,在微型微型机器人中,微型化限制了不同机械组件的集成以及使用车载电池的可能性。在这里,我们介绍了在由光机械响应式液晶网络制成的无线控制软致动器中实现非往复运动的一般概念。整体式执行器由两部分组成,可通过光化学和光热方式进行驱动,双向运动是通过控制序列对不同波长的光源进行时间调制而获得的。通过光活性化合物的适当选择,调制的光源的数量可以减少,从三个为两个,并最终为一个。最后,我们证明了在恒定光场下没有时间调制的情况下,柔性条带中的自遮蔽效应会产生不可逆的自激振荡。这项研究为光控不可逆致动提供了一般指导,为控制无线软微机器人提供了新的策略。我们证明了在恒定光场下没有时间调制的情况下,柔性条带中的自遮蔽效应会产生不可逆的自激振荡。这项研究为光控不可逆致动提供了一般指导,为控制无线软微机器人提供了新的策略。我们证明了在恒定光场下没有时间调制的情况下,柔性条带中的自遮蔽效应会产生不可逆的自激振荡。这项研究为光控不可逆致动提供了一般指导,为控制无线软微机器人提供了新的策略。
更新日期:2020-07-01
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