Intelligent Polymer Materials as Actuators and Sensors for Soft Robotics Applications (IntPoly)

智能聚合物材料作为软机器人应用的执行器和传感器（IntPoly）

• 批准号: 498339709
• 负责人: Professorin Dr. Sabine Ludwigs
• 金额: --
• 依托单位: Lehrstuhl für Struktur und Eigenschaften polymerer Materialien
• 依托单位国家: 德国
• 项目类别: Priority Programmes
• 资助国家: 德国
• 项目状态: 未结题
• 来源: https://gepris.dfg.de/gepris/projekt/498339709?language=en
• 关键词: Intelligent; Polymer; Materials; Actuators; Sensors

The project “Intelligent Polymer Materials as Actuators and Sensors for Soft Robotics Applications”, IntPoly, is a new soft materials science project which shall be implemented into current activities of the SPP 2100 on “Soft Material Robotics”. IntPoly is based on the coupled interdisciplinary expertise of Prof. Sabine Ludwigs (polymer chemistry, materials science) and Prof. Holger Steeb (rheology, material modelling) and aims at novel intelligent polymer bilayer and 3D printed architectures which can adapt their mechanical properties to external fields and which shall be used as strain sensors on the one hand and as actuators and for actuated stiffening of soft robotics devices on the other hand. Conducting polymers (CPs) such as poly(ethylenedioxythiophene):poly(styrenesulfonate) (PEDOT:PSS) have been identified as intelligent materials which actively adapt and respond to electric fields. Highly stretchable materials shall be prepared as compliant materials for soft robotics which involves the combination of CPs either with hydrogels or as blends with elastomers such as Ecoflex and Dragonskin. The project is structured in 3 workpackages: In WP1 a systematic characterization of the complex interplay between temperature, humidity, electrical conductivity and rheological properties of bulk and bilayer films shall be performed. For the use as actuators and actuated stiffening (variable stiffness) the concept of Joule heating will be applied, i.e. local heating leads to curvature changes in bilayers and increased Young’s moduli of the intelligent materials. For strain sensors the resistance shall be measured as function of strain for large strain materials. WP2 applies 3D printing technology to create complex architectures which should result in more complex shape changes and functionally-graded samples allowing to create tuned intelligent structures. Continuum based finite deformation models shall be developed which allow for Finite Element (FE) simulations. The numerical simulations shall support the prediction of shape changes and allow for the investigation of the internal stress states of “complex” actuator geometries consisting of samples with heterogeneously distributed material properties.A very strong collaboration with the SPP2100 demonstrator projects TENDON and SMART is planned in WP3. On the one hand, strain sensors shall be coupled with soft elastomer robotics systems and optimized for shape, position and orientation detection. On the other hand, electric field induced stiffening (“stiffening on demand”) of the intelligent layers and architectures shall be connected with existing soft elastomer robotics.The project will add to current challenges of the field including material choice, design and engineering of novel soft materials with corresponding fabrication processes (e.g. 3D printing) for soft and stretchable actuators and sensors, and their appropriate placement in demonstrators.

“智能聚合物材料作为软机器人应用的执行器和传感器”项目，IntPoly，是一个新的软材料科学项目，将被实施到SPP 2100关于“软材料机器人”的当前活动中。IntPoly以Sabine Ludwigs教授(聚合物化学、材料科学)和Holger Steeb教授(流变学、材料建模)的跨学科专业知识为基础，旨在开发新型智能聚合物双层和3D打印体系结构，这种体系结构可以根据外部场调整其机械性能，一方面可用作应变传感器，另一方面可用作执行器和软机器人装置的致动加筋。导电聚合物如poly(ethylenedioxythiophene)：poly(styrenesulfonate)(PEDOT：PSs)被认为是一种能够主动适应和响应电场的智能材料。高度可伸缩的材料应准备为软机器人的顺应性材料，包括CPS与水凝胶的组合，或作为与弹性体(如Ecoflex和Dragon Skin)的混合物。该项目分为3个工作包：在WP1中，应对体膜和双层膜的温度、湿度、导电性和流变性之间的复杂相互作用进行系统的表征。对于作为致动器和致动加强(可变刚度)的使用，将应用焦耳加热的概念，即局部加热导致双层膜的曲率变化和智能材料的杨氏模数增加。对于应变传感器，对于大应变材料，应测量作为应变函数的电阻。WP2应用3D打印技术来创建复杂的建筑，这应该会导致更复杂的形状变化和功能分级的样本，从而可以创建可调的智能结构。应开发基于连续介质的有限变形模型，以便进行有限元(FE)模拟。数值模拟应支持形状变化的预测，并允许调查由具有非均匀分布材料特性的样品组成的“复杂”致动器几何形状的内应力状态。WP3计划与SPP2100示范项目Tenon和SMART进行非常强有力的合作。一方面，应变传感器应该与软弹性体机器人系统相结合，并优化形状、位置和方向检测。另一方面，智能层和建筑的电场诱导加固(“按需加固”)将与现有的软弹性体机器人连接。该项目将增加该领域当前的挑战，包括材料选择、新型软材料的设计和工程以及软和可伸缩执行器和传感器的相应制造工艺(例如3D打印)，以及它们在演示器中的适当放置。