Preparation Of Guar Gum Based Hydrogels And Application Of Flexible Clawed Robot

With the rapid development of science and technology,more and more functional polymer materials,especially soft materials,are applied to daily production and life.With their flexibility,versatility and excellent mechanical properties,soft materials attract on increasing attention of researchers.Software robots based on soft material materials are a new type of flexible robots,and the material can be made of silicone rubber.However,there is little research on the application of natural polymer hydrogels to software robots.In this paper,guar gum?GG?hydrogels and its derivatives are systematically studied,the physicochemical properties of hydrogels are investigated.First,guar gum was used as raw material to form hydrogels.Here we develop a guar gel-borax supermolecular hydrogels?Borax-G?system by adding sodium tetraborate which forms borate bonds.The hydrogel has remarkable self-repair properties and gel-sol conversion properties.Secondly,hydrogels were prepared from cationic guar gel?CGG?,and it was combined with acrylamide to form cationic guar gel?AM-CGH?,which has better mechanical properties and shape memory performance.The tensile stress of CGG at a concentration of 2%of CGG is0.13MPa,the tensile strain is 2130%,while its tensile stress increased to 0.54 MPa after soaking in the saturated sodium citrate solution?C₆H₅Na₃O₇?.It is 4.15 times that of the original composite hydrogel,with a tensile strain of 900%and a shape memory rate of 80%after being saturated in C₆H₅Na₃O₇ for 35 min.Thirdly,using 2-octenyl succinic anhydride?OSA?as a modifier,GG was uniformly modified and Guar gum Ester?OG?was successfully prepared.Then,using OG as raw material,the octenylsuccinate Guar gel?OGH?was prepared by free radical polymerization,and the mechanical properties and shape memory properties of the hydrogel were studied.The hydrogel tensile stress at a concentration of 10%of OG was 20KPa,the tensile strain was 380%;The tensile stress increased to 1.09 MPa after being soaked in 0.1 mol/L ferric chloride solution?FeCl₃?for 12 h,the tensile stress increased 54.5 times than before,while tensile stress decreased to 218%,and the shape memory rate of FeCl₃ 1min soaked by 0.1 mol/L was 90%.Finally,the application of Guar gelatin hydrogel in flexible clawed robot is probed.The hydrogels prepared in this paper yields an excellent electrical condutive property,so that the electric resistance value would change with the hydrogel deformation.The variable can be used as the input quantity of the control system.The pneumatic controller adjusts the air pressure according to the feedback signal and controls the flexible gripper to realize the flexible gripping function.