Development and characterization of soft magnetic materials with anisotropy in the mechanical properties and multi-stimulated compliance

该项目的目标是（A）研究由悬浮在高弹性基体中的磁性颗粒组成的软磁混合材料，该基体部分或全部由热塑性成分制成，（B）在软机器人应用的原型解决方案中利用其磁可逆变化特性的优势。研究的愿景目标是实现技术功能元件的自适应机械顺应性，例如柔顺致动器和结构。它追求的理念是，通过使用这些“智能”材料，与没有可逆变化的机械性能的系统相比，柔顺系统的性能可以显着提高。拟议的调查的重点是考虑软材料机器人系统及其比较分析和检查的背景下，三种材料系统的适用性。将研究磁性混合材料（1）以热塑性弹性体作为基体材料，（2）以弹性体-热塑性基体和（3）以弹性体基体和嵌入的宏观热塑性插入物。第一个应用阶段的重点在于开发属于宏观力学行为的理论描述的方法，提供合适的材料模型和不同抽象层次的设计工具。这包括对这些材料的特殊特性（如热或磁致刚度变化）的机械材料特性进行实验表征。系统的研究包括材料、组件和系统设计，可以找到这种磁性混合材料的主要应用可能性，并使其有针对性地用于软材料机器人系统。这些具有高水平功能集成的材料系统的致动器和传感器功能的固有存在可以导致软机器人系统对操作任务和环境条件的适应性的新的和潜在的等级。

The project aims are (A) to investigate soft magnetic hybrid materials consisting of magnetic particles suspended in a highly elastic matrix, which is partly or wholly made of thermoplastic components, and (B) to exploit the advantages of their magnetically reversibly changeable properties in prototype solutions for soft robotic applications.The visionary goal of the investigations is on enabling adaptive mechanical compliance of technical functional elements, such as compliant actuators and structures. It pursues the idea that by using these ‘intelligent’ materials, the performance of compliant systems can be significantly improved in comparison to systems without reversibly changeable mechanical properties. The focus of the proposed investigations is the consideration of the applicability of three material systems in context of soft material robotic systems and their comparative analysis and examination. Magnetic hybrid materials (1) with a thermoplastic elastomer as matrix material, (2) with an elastomer-thermoplastic matrix and (3) with an elastomer matrix and embedded macroscopic thermoplastic inserts will be studied. The emphasis of the first application period lies on the development of methods belonging to the theoretical description of the macroscopic mechanical behavior by providing suitable material models and design tools at different levels of abstraction. This includes experimental characterization of the mechanical material properties with respect to the special features of these materials, such as thermally or magnetically induced stiffness change.The systematic investigations consisting of material, component and system designs make it possible to find principal application possibilities of such magnetic hybrid materials and enable their targeted use for soft material robotic systems. The intrinsic presence of actuator and sensor capabilities of these material systems implemented with a high level of functional integration can lead to novel and potential grades in the adaptability of soft robotic systems to operational tasks and environmental conditions.