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Rapid Soft Material Actuation Through Droplet Evaporation
Soft Robotics ( IF 6.4 ) Pub Date : 2021-10-13 , DOI: 10.1089/soro.2020.0055
Han-Joo Lee 1 , Peerasait Prachaseree 2 , Kenneth J Loh 1, 3
Affiliation  

Soft material actuation is a promising field that can potentially solve several limitations of traditional robotic systems. These systems comprise soft and flexible materials to achieve high degrees of freedom and compliance with their surroundings. One method to actuate such structures is to vaporize liquid that is embedded inside the soft material. The soft elastomers are inflated since the generated vapor occupies a much larger volume after phase transformation. The simplest and widely used design to vaporize such liquids is installing a heating element near the liquid. Heating the system beyond the boiling point rapidly boils the liquid and deforms the structure. However, this technique possesses several limitations, such as the heating element must be in the liquid's vicinity, and boiling the liquid requires high temperatures. In addition, embedding a small amount of liquid for faster boiling prevents the use of valves to exhaust the vapor. Instead, the structure is slowly cooled until it returns to its original position. In this study, these limitations are addressed by combining heating with vibrating mesh atomization. The atomizer disperses the liquid into small droplets, which vaporize much faster as compared with simply heating the bulk liquid. Actuation through vibrating mesh atomization was first characterized and compared with other techniques. Then, the introduced method was used to demonstrate cyclic actuation, and a bistable structure was designed and fabricated to demonstrate gripping motion.

中文翻译:

通过液滴蒸发快速启动软材料

软材料驱动是一个很有前途的领域,可以潜在地解决传统机器人系统的几个限制。这些系统包含柔软和灵活的材料,以实现高度的自由度和与周围环境的顺应性。驱动这种结构的一种方法是使嵌入软材料内部的液体蒸发。软弹性体膨胀,因为产生的蒸汽在相变后占据了更大的体积。蒸发此类液体的最简单且广泛使用的设计是在液体附近安装加热元件。将系统加热到沸点以上会使液体迅速沸腾并使结构变形。然而,这种技术有几个限制,例如加热元件必须在液体附近,并且沸腾液体需要高温。此外,嵌入少量液体以加快沸腾速度可防止使用阀门排出蒸汽。相反,该结构会慢慢冷却,直到它返回到原来的位置。在本研究中,通过将加热与振动网状雾化相结合来解决这些限制。雾化器将液体分散成小液滴,与简单地加热散装液体相比,这些液滴蒸发得更快。首先对振动网状雾化驱动进行了表征,并与其他技术进行了比较。然后,使用介绍的方法来演示循环驱动,并设计和制造双稳态结构来演示夹持运动。该结构被缓慢冷却,直到它回到原来的位置。在本研究中,通过将加热与振动网状雾化相结合来解决这些限制。雾化器将液体分散成小液滴,与简单地加热散装液体相比,这些液滴蒸发得更快。首先对振动网状雾化驱动进行了表征,并与其他技术进行了比较。然后,使用介绍的方法来演示循环驱动,并设计和制造双稳态结构来演示夹持运动。该结构被缓慢冷却,直到它回到原来的位置。在本研究中,通过将加热与振动网状雾化相结合来解决这些限制。雾化器将液体分散成小液滴,与简单地加热散装液体相比,这些液滴蒸发得更快。首先对振动网状雾化驱动进行了表征,并与其他技术进行了比较。然后,使用介绍的方法来演示循环驱动,并设计和制造双稳态结构来演示夹持运动。首先对振动网状雾化驱动进行了表征,并与其他技术进行了比较。然后,使用介绍的方法来演示循环驱动,并设计和制造双稳态结构来演示夹持运动。首先对振动网状雾化驱动进行了表征,并与其他技术进行了比较。然后,使用介绍的方法来演示循环驱动,并设计和制造双稳态结构来演示夹持运动。
更新日期:2021-10-19
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