4日,在龙岩中心城市北部新城新罗区新材料新能源产业园生物精细化工片区,新罗德泽锂离子电池碳基负极材料深加工项目中控室,工作人员正监测中控大屏实时运行数...
2025-08-06 0
1成果简介
持续输出机械功的自振荡在生物体的活动中发挥着关键作用,这启发了人们利用其原理设计具有多样化运动的仿生软机器人。然而,当前的自振荡器需要对刺激场进行精确控制,例如热/湿度梯度、图案化光等。如何实现通过简单、非图案化的能量场对自振荡进行精确控制,仍面临挑战。本文,合肥工业大学常龙飞 副研究员、赵玉顺 教授、胡颖教授等在《ADVANCED FUNCTIONAL MATERIALS》期刊发表名为“Seal-Bioinspired Electrostatic Oscillation-Based Soft Robot with Light Tunable Locomotion”的论文,研究通过简单方式开发了一种基于静电驱动的石墨烯振荡器,其可实现频率可调且能耗更低的连续振荡运动,这归因于静电力以及由充电现象引发的负反馈回路。
此外,受海豹运动启发,进一步设计了一种无绳、协同的静电/光学双刺激驱动机器人,其中该石墨烯振荡器作为仿生后鳍提供推进力,而基于MXene的光驱动执行器则作为前鳍控制方向。这种海豹状机器人能够在狭窄空间中实现精确可控的运动,包括障碍物避让和停泊至预定位置。此外,还实现了在电场作用下持续快速旋转的旋转机器人。该石墨烯振荡器及机器人在特殊场景下的电机和微型软机器人应用中展现出广阔前景。
2图文导读
图1、a) Two movement modes of the seals, including (I) underwater swimming and (II) land crawling. b) Schematic of the electric voltage/light-driven soft robot that mimics the movement of a seal. Here, the DC voltage-driven graphene oscillator acts as the hind flipper of the robot, and its continuous oscillating motion provides the robot with forward power. And the light-driven actuator serves as the robot's fore flippers, giving the robot steering capability.
图2、Electrostatic driven graphene oscillator. a) Optical image of the graphene film. b) The cross-sectional SEM image of the graphene film. c) Cross-sectional magnified SEM image of the graphene film. d) Optical images of the self-oscillating motion of the graphene film under electric field during an oscillation cycle. Here, the applied electric field strength is 24 V mm−1. The size of the film is 25 × 4 mm. e) Schematic diagram of the mechanism of the electrostatic driven oscillation of the graphene film. The process consists of (i) generating electrostatic induction, (ii) bending toward the positive electrode and contacting the positive plate, and (iii) bending toward the negative electrode and contacting the negative plate. f) Variation of the oscillation frequency of graphene film at different DC electric field strengths. Here, the electric field increases in the black curve and decreases back in the red curve. g) Variation of the bending angle of the graphene film at different DC electric fields. h) Sustained oscillating motion of the graphene oscillator for 15 000 cycles under electric field stimulation. Here, the applied electric field strength is 60 V mm−1.
图3、The autonomous crawling motion of the seal-like robot is driven by a DC electric field, using the graphene oscillator as the engine. a) Schematic diagram and optical image of the seal-like robot capable of electrostatic-driven autonomous movement. b) The autonomous movement trajectory of the seal-like robot under an electric field. The inset image is a top view of the robot. c) Top and side views of the motion process of the seal-like robot on the electrode plate driven by an electric field. Here, the electric field is 90 V mm−1 and the distance between the two electrodes is 10 mm. d) Side view optical images of the motion process of the seal-like robot under oscillation. e) Schematic diagram of the mechanism of the robot's motion under an electric field. The motion process includes: (i) move toward the lower plate, (ii) before contact with the lower plate, (iii) instant contact with the lower plate, and (iv) move toward the upper plate. f) Optical images of the seal-like robot carrying objects to move forward under an electric field. The electric field is 90 V mm−1, and the distance between the two electrode plates is 10 mm.
图4.Synergistic electrostatic/optical manipulation of the seal-like robot. a) Schematic diagram of the dual electrostatic/light-driven seal-like robot with a light-driven deformable fore flipper. (i) The robot moves forward autonomously under an electric field. The inserted image in the lower right is an optical image of the robot. (ii) The robot achieves steering motion under light irradiation. b) Schematic diagram of the mechanism of light-driven deformation of the PE/MXene actuator. c) Optical images of PE/MXene actuator with reversible light-driven deformation. The size of the PE/MXene bilayer film is about 25 × 5 mm. d) The seal-like robot completes an “S” shape movement of going around obstacles under the synergistic electrostatic/light-driven actuation. Here, the applied electric field is 90 V mm−1 and the electrode distance is 10 mm. The light intensity is ≈50 mW cm−2. The size of the PE/MXene actuator is about 12 × 2 mm. In the “T” shaped graphene film, the tail part is a square of 7 × 7 mm and the front part is a long strip of 15 × 2 mm. e) The traveled distance and angle of steering of the robot versus time during the “S” shaped movement around obstacles.
图5、Graphene oscillator-based rotating robot. a) Schematic diagram of the rotating robot with the electrostatic induced oscillation. b) Optical images of the robot for rotating in a circle stimulated by DC voltage. Here, the electric field is 200 V mm−1. c) Schematic diagram of the mechanism of the rotating robot generating circular motion under DC voltage, including (i) side view (ii) top view. d) Relationship between the electric field applied to the electrode plates and the rotation speed of the rotating robot.
3小结
综上所述,一种能够产生电压驱动的连续振荡、具有可调频率、优异机械输出、低能耗(微瓦级)及高电能到机械能转换效率(11.6%)的石墨烯振荡器已被制备,其性能归因于静电力以及由充电现象引发的负反馈回路。受海豹运动的启发,设计了一种仿生海豹状机器人,以石墨烯振荡器作为驱动力。该机器人可在电场中快速移动,并能向前携带约自身重量5.2倍的物体。此外,为实现对机器人运动的精确操控,机器人上进一步安装了光驱动执行器以控制其运动方向,使机器人能够执行预期中的可控运动,如“S”形避障和“停车”动作。此外,还设计了一种可在电刺激下快速旋转的旋转机器人。未来,通过电极的微型化和柔性化,有望实现该振荡器的集成与微型化。借助微加工技术并集成微型化高压供电系统,可进一步将石墨烯振荡器驱动机器人的尺寸从厘米级缩小,从而实现日常或极端环境下的无线移动。综上所述,这种新型石墨烯振荡器和仿生机器人有望在紧凑型电力设备和气体绝缘输电线路(GIL)的内部操作和检测,以及微型软机器人和智能机械系统领域展现出广阔前景。
文献:https://doi.org/10.1002/adfm.202512768
来源:材料分析与应用
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