仿实蝇幼虫磁编程温敏水凝胶软体机器人致动机理研究

Bionic mollusk-inspired worming robots offer broad application prospects in tasks such as exploration and rescue missions, pipeline inspection, military reconnaissance, and minimally invasive surgery due to their amazing physical intelligence and environmental adaptability. Current intelligent hydrogel-driven soft robots have low movement efficiency and precision control problems regarding motion and pose. In particular, fruit fly larvae possess hydrostatic skeletons that enable substantial deformation through fluid-structure interactions. In addition, such larvae can control their body to switch among worming and elastic jumping movements. This study uses the fruit fly larvae as a biomimetic object to develop a soft robot based on magnetic, temperature-sensitive hydrogels. By examining the volume phase transition behavior, mechanical response and evolution mechanism of such hydrogels, this study aims to determine the relationship between magnetothermal coupling effect and the mechanical behavior of hydrogels. This study will also commence writing magnetic anisotropy programming for the hydrogels and confirm the laws of magnetothermal coupling effect on the deformation response of such programmable hydrogels. Based on magnetic programming bionic structure, optimized methods and theories for designing a fruit fly larvae-inspired bionic hydrogel soft robot are obtained. According to minimum energy-loss principle, the worming and elastic jumping motion controllability of hydrogel soft robots are achieved. This study will provide new perspectives and theoretical basis for future research on the design and actuation mechanisms of novel soft robots.

仿生蠕动软体机器人由于具有高度的身体智能与环境适应性在军事侦察、管道检测、微创手术、勘探救援等领域有着广泛的应用前景。针对智能水凝胶驱动型仿生蠕动软体机器人目前存在的驱动效率低、运动位姿难以精确控制的问题，本项目拟以具备流体静力骨骼-流固耦合大变形运动能力以及蠕动爬行和弹性跳跃运动可控切换的实蝇幼虫为仿生对象，开展具有温度与磁场双重响应的磁编程温敏水凝胶软体机器人设计研究；阐明磁性温敏水凝胶的体积相变行为、力学响应与演变机制，明确磁热耦合效应与水凝胶力学行为关系；开展磁性温敏水凝胶的磁各向异性编程设计，发掘磁编程温敏水凝胶的磁热耦合响应形变规律；建立具有本体仿生-内部磁编程一体化结构的仿实蝇幼虫磁编程温敏水凝胶软体机器人致动理论及其优化设计方法，最终实现基于能量最小耗散原则的可控蠕动爬行和弹性跳跃运动行为。研究成果将为新型软体机器人设计及致动研究提供新的视角与理论支撑。

仿生蠕动软体机器人由于具有高度的身体智能与环境适应性在微创手术、勘探救援等领域有着广泛的应用前景。特别地，聚N-异丙基丙烯酰胺（PNIPAm）温敏水凝胶的弱刺激强响应智能特征可实现热能向机械能的能量转化，在仿生软体机器人、柔性传感器等领域具有巨大的应用潜能。然而化学交联温敏水凝胶往往表现出低硬度、拉伸强度和韧性，限制了其适用性。. 项目以N-异丙基丙烯酰胺(NIPAM)为温敏单体，研发了磁性双网络交联、液态金属、P(AAc-co-NIPAm)等几种PNIPAm可拉伸温敏水凝胶，研究了材料配比等对PNIPAm可拉伸温敏水凝胶力学性能及体积相变的影响规律，明确了PNIPAm可拉伸温敏水凝胶的形成机理，探究了PNIPAm可拉伸温敏水凝胶的体积相变行为、力学响应与演变机制，基于Transient network theory 构建了P(AAc-co-NIPAm) 可拉伸温敏水凝胶的四参数连续力学模型，探明了动态键解离是其能量耗散的主要机制，阐明了磁性双网络交联PNIPAm可拉伸温敏水凝胶的增韧机制，构建了磁性双重网络交联温敏水凝胶非线性粘弹性本构模型，证实了稳定共价键部分ξ与交联率f的线性关系。.开展了磁性温敏水凝胶仿生软体机器人的磁各向异性设计，研究了交变磁场作用下磁致变温调控机制及磁热耦合响应形变规律，掌握了交变磁场作用下仿生软体机器人的形变响应调控方法。受仿生对象实蝇幼虫启发，研发了具有楔形足部接触边缘角度的几种磁性仿生软体机器人，研究了交变磁场作用下仿生软体机器人的运动学行为，通过高频交变磁场作为远程控制温度的媒介，调控仿生软体机器人的身体形变，构建了软体机器人在加热伸展和冷却弯曲过程中的楔形足部变形预测模型。此外，在交变磁场、梯度磁场等多场环境中，磁性仿生软体机器人还实现快速弹跳、运输货物、弹跳跨越积木障碍等多步态快速运动。此外，与上述仿生软体机器人通过调控身体变形和其与地面接触前部和后部产生的非对称性摩擦力实现定向运动类似，以热致液晶弹性体为驱动介质研发的软体机器人，基于焦耳热效应的可逆弯曲变形和各向异性摩擦力同样实现了仿生运动。. 上述研究成果为新型仿生软体机器人设计及致动研究提供了新的视角与理论支撑。