A Pneumatic Artificial Muscle Manufactured Out of Self-Healing Polymers That Can Repair Macroscopic Damages
A Pneumatic Artificial Muscle Manufactured Out of Self-Healing Polymers That Can Repair Macroscopic Damages
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DOI：
10.1109/lra.2017.2724140
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发表时间：
2018-01-01
影响因子：
5.2
通讯作者：
Vanderborght, Bram
中科院分区：
文献类型：
--
作者：
Terryn, Seppe;Brancart, Joost;Vanderborght, Bram
气动肌肉大多由柔性膜构成，并在广泛的机器人应用中实现。在这些柔软的材料中，穿孔通常是由肌肉的过度压力和磨损引起的。在许多情况下，这导致驱动循环次数有限。在这封信中，开发了褶皱气动人造肌肉，其膜由自愈聚合物构成。这允许微观和宏观损伤完全愈合通过温和的热处理。设计、制造了两个原型，并进行了实验表征。通过完全修复肌肉膜上的大切口，验证了这种自愈能力。即使反复损伤和修复肌肉，通过自我修复过程，机械性能也以可逆和可重复的方式恢复。
Pneumatic muscles are mostly constructed out of flexible membranes and are implemented in a wide range of robotic applications. In these soft materials, perforations are often caused by overpressuring of the muscles and wear. In many cases, this leads to limited numbers of actuation cycles. In this letter, pleated pneumatic artificial muscles were developed, whose membrane is constructed out of self-healing polymer. This allows for the complete healing of microscopic and macroscopic damages through a mild heat treatment. Two prototypes were designed, manufactured, and experimentally characterized. The self-healing was validated by repairing large realistic cuts in the muscle membrane completely. Even when repeatedly damaging and healing the muscles, the mechanical properties were recovered in a reversible and repeatable fashion through the self-healing procedure.