面向狭窄管腔的多元耦合仿生缠绕夹持机制研究

研发具有可自发致动、三维变形和柔顺性好等特点的执行器对目标物实施有效夹持，是解决狭窄管腔中异物难以清除问题的关键，也是机器人和仿生机械等领域的研究热点和难点。牻牛儿苗的种芒能自发响应湿度变化，高效利用有限空间以螺旋变形的方式钻入缝隙，是一种值得借鉴的新思路。项目以牻牛儿苗种芒为仿生原型，探索面向狭窄管腔的缠绕夹持机制，并围绕相关的基础性问题开展研究：对种芒的形态、结构和材料属性进行系统表征与分析，揭示其吸水螺旋变形机理并建模；运用种芒的多元耦合机制，探索材料-结构-功能一体化仿生执行器的制备方法，使其尺寸满足在狭窄管腔中作业的需求；揭示仿生执行器构成要素与功能间的映射关系，提出根据目标物特征和所处环境对其螺旋变形特性和机械性能“编程”的仿生设计原理，并对其缠绕夹持性能和生物相容性进行测试与优化。相关成果将为突破传统刚性夹持法的局限，以及高性能仿生执行器和医疗器械的研发提供科学理论支撑。

Development of the actuators with characteristics of spontaneous actuation, three-dimensional deformation and good flexibility to clamp the target object effectively, is the key process to solve the problem of removing foreign object in the narrow lumen, and is also a hot and difficult spot in the fields of robots and bionic machines. Seed awn of Geraniaceae can respond to changes in humidity and produce helical deformation with high space utilization to penetrate into the narrow slit spontaneously, which provide a new idea worth learning. In this project, the seed awn of Geraniaceae is used as a bionic prototype to explore the mechanism of enlacing clamping which adapted to the narrow lumen, and the basic problems behind it are researched: the morphology, structure and material properties of the seed awn are characteristiced and analysed to reveal the mechanism of its hygroscopic helical deformation and related model is built; the preparation method of the bionic actuator with the integrated of material, structure and function is explored based on the multi-factor coupling mechanism of the seed awn, and making its size to meet the requirement of operation in the narrow lumen; the mapping relationship between the components and functions of the bionic actuator is revealed, and the bionic design principle of programming its helical deformation characteristics and mechanical properties according to the features of the target and the environment is proposed, then the clamping performance and biocompatibility of the bionic actuator are tested and optimized. The outputs of this project can provide scientific theoretical support for breaking through the limitations of the traditional rigid clamping method and the development of high-performance bionic actuators and medical devices.