Study On Preparation And Service Behavior Of Superelastic Materials For Soft Robotics

After decades of development,rigid component robotics have helped revolutionize the manufacturing industry.Due to its lack of flexibility and ability to overcome obstacles,traditional robot just work in the limited environment and can't meet higher demands.In order to complete tasks in complex environments,scientists set their sights on the natural world,from the structure and dynamics of bionic soft organisms,to carry out soft robotics design research.Normally,Elastomer materials are characterized by physical and chemical properties and are one of the ideal materials for the manufacture of soft robotics.In this paper,the soft robot based on elastomer material silicone rubber carried out theoretical and experimental research,then the main research work and conclusions are as follows.Firstly,by comparing various parameters of silicone rubber Ecoflex series,Ecoflex 00-30 was selected as the experimental material.With the help of uniaxial tensile testing machine,the mechanical behavior of silicone rubber samples obtained under different parameters such as heat treatment temperature,stretching number,stretching time and different doped materials.Origin software is used to draw its stress-strain curves.The change rule and influence mechanism of its mechanical behavior are analyzed.The results show that the tensile properties of silicone rubber decreases with the increase of heat treatment process temperature.The longer the initial stretching time,the smaller the elastic modulus of silicone rubber was obtained.The higher the reciprocating stretching frequency,the greater the tensile property will change.That is,the initial elastic modulus increases as the stretching frequency increases.When mixing the Ecoflex with PDMS,the more the PDMS is added,the greater of the stress-strain curves slope is.The elastic modulus is larger,and the tensile strength of the silicone rubber material is stronger.Secondly,the article imitated the characteristics of the body structure of the mollusks,Solidworks is used to design the semi-circular cavity soft actuator mold,and print the mold of the actuator by using the 3D printer.Ecoflex 00-30 material is used to make the software actuator.The bending deformation movement of theactuator is realized by changing the pressure of the gas pressure.The dynamic simulation of the prototype model is carried out by means of Abaqus,and the experimental results are compared and verified.Finally,the excellent physical properties of elastomer silicone rubber were fully utilized to design the semi-circular soft body cavity actuator,and the effects of heat treatment and doped PDMS on the structure-material comprehensive deformation behavior and mechanical behavior of the cavity structure actuator were systematically studied.