Scalable fabrication of ionic and capacitive laminate actuators for soft robotics
Scalable fabrication of ionic and capacitive laminate actuators for soft robotics
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DOI：
10.1016/j.snb.2017.02.065
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发表时间：
2017-07
影响因子：
8.4
通讯作者：
F. Kaasik;I. Must;I. Baranova;I. Põldsalu;E. Lust;U. Johanson;A. Punning;A. Aabloo
中科院分区：
文献类型：
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作者：
F. Kaasik;I. Must;I. Baranova;I. Põldsalu;E. Lust;U. Johanson;A. Punning;A. Aabloo
基于高比表面积电极和具有类似于电双层电容器的层压结构的软电化学驱动致动器对于未来几代仿生机器人是有吸引力的。将这种离子和电容致动器成功地结合到软机器人中需要高度可重复和可扩展的制造技术。作为一种新颖的制备离子和电容层压板的方法，电活性层被逐层沉积在编织织物基底周围，该编织织物基底被称为层压板的最中心层。具有织物增强层的致动器的机电性能与没有增强层的类似致动器相当;然而，增强层显著简化了制造过程并增加了致动器特性的可重复性。更重要的是，增强层与其拉伸强度有关，这为将软离子致动器直接结合到织物上提供了新的机会，而不会损害其优异的机电性能。幸运的是，同样的电活性层压板，直接暴露在环境空气中，具有出色的性能作为双电层电容器的能量存储。机电特性与恒电流输入进行了大量的致动器，以确定影响其致动的可重复性的因素。新的制造工艺产生的电活性层压板具有出色的厚度和面电容均匀性（95%置信区间的标准偏差分别为9.2%和9.4%），寿命超过一万次循环。
Soft electrochemically-driven actuators based on high specific surface area electrodes and having a laminate structure similar to the electrical double-layer capacitors are attractive for future generations of biomimetic robotics. Successful incorporation of such ionic and capacitive actuators into soft robots demands highly repeatable and scalable fabrication techniques. As a novel approach in fabrication of ionic and capacitive laminates, the electroactive layers are deposited layer-by-layer around a woven fabric substrate, which is pertained as the centermost layer of the laminate. The electromechanical performance of the actuators having the textile reinforcement layer was on a par with similar actuators without the reinforcement layer; however, the reinforcement layer significantly simplifies the manufacturing process and increases repeatability of the actuators characteristics. More importantly, the reinforcement layer pertains its tensile strength, which gives new opportunities for incorporation of the soft ionic actuators directly onto fabric without compromising their excellent electromechanical performance. Fortunately, the same electroactive laminates, directly exposed to ambient air, have outstanding performance as electric double-layer capacitors for energy storage. Electromechanical characterization with a galvanostatic input was carried out on a large pool of actuators to identify the factors influencing the repeatability of their actuation. The new fabrication procedure yields electroactive laminates with outstanding uniformity in thickness and areal capacitance (standard deviations at 95% confidence interval are 9.2% and 9.4%, respectively) and with a lifetime of more than ten thousand cycles.