Research On Consistency Control Of Soft Deformation Hand Based On Liquid Crystal Elastomer Artificial Muscle

In recent years,with the development of intelligent materials and the breakthrough of control science,the accurate design and controllable programming of sensitive materials provide a new technical route for the research of flexible robots.They are more adaptable,lightweight and bionic than traditional rigid devices.The existing smart materials rely on their own characteristics,and it is difficult to accurately express the deformation,denaturation and variable function.In addition,the flexible actuator composed of smart materials has a high degree of freedom in the process of self-assembly and self-deformation,and it is difficult to establish an accurate control model.The soft morphing hand composed of multiple Liquid crystal elastomer(LCE)flexible actuators can integrate multiple functions,and for the autonomous control and collaborative change of the spatial flexible capture mechanism,it is urgent to carry out the research on the cooperative precise control mechanism and technology of flexible components.The specific work is as follows:Firstly,a low-voltage driven double-layer film structure flexible actuator based on LCE is proposed.The thermally responsive LCE film is prepared,and then the structured meshlike flexible film substrate is prepared through the micro-nano processing techniques such as silicon mold preparation and mold turnover,and the mesh-like carbon nanotube electric heating film is prepared through the knife coating process;The LCE flexible actuator with a double-layer structure was prepared;the performance of the LCE film and the mesh-like carbon nanotube electric heating film were characterized respectively;and the simple driving experiment is carried out on the LCE flexible actuator.Secondly,a soft finger unit with a programmable LCE flexible actuator is designed,and the bending and grasping tests are carried out to simulate the design of antagonistic muscles;the effects of different structural parameters and driving parameters on the bending ability of the soft finger unit were quantitatively studied;Aiming at the ease of control of the driving force of the soft finger joints,the relationship equation between temperature and bending stress is established;in order to meet the needs of space capture,a fully soft morphing hand is further designed and a hardware system control strategy is built;To verify its movement ability,a new method to establish the Euler-Lagrange kinematics equation of the soft finger unit is proposed.Finally,a static position consistency control method of soft morphing hand system is proposed.Using the angle information of five adjacent soft finger units and their own angular velocity information as input,the corresponding control protocol is designed under the condition of mutual independence;furthermore,the stability of the system is proved by means of graph theory and Mastrosov theorem;the simulation and numerical simulation of the soft deformable hand system with five soft finger units are carried out,and the feasibility of the control protocol designed is further verified through simulation and experimental comparison.