ساخت عملگر نرم نوین با طول عمر بالا با استفاده از سیلیکون الاستومر و اتانول

نوع مقاله : علمی و پژوهشی

نویسندگان

1 گروه مهندسی برق، دانشکده مهندسی، دانشگاه فردوسی مشهد، مشهد، ایران

2 گروه مهندسی متالورژی و علم مواد، دانشکده مهندسی، دانشگاه فردوسی مشهد، مشهد، ایران

چکیده

قابلیت کاربری عملگرهای مرسوم همانند موتورها و ماهیچه‌های مصنوعی هیدرولیکی و پنوماتیکی به دلیل وزن زیاد، ابعاد بزرگ، صدای بیش از اندازه در بسیاری از حوزه‌ها محدود شده است. در همین راستا، در سال‌های اخیر بسیاری از محققین و دانشمندان تحقیقات گسترده‌ای جهت معرفی نسل جدیدی از عملگرهای هوشمند، ارزان قیمت، با ابعاد کوچک و سبک انجام داده‌اند. در این پژوهش ربات نرم با پاسخگویی سریع، با استفاده از کامپوزیت پلیمری با زمینه سیلیکونی و اتانول به عنوان سیال تغییر فازدهنده (فاز ثانویه) ساخته و رفتار حرکتی و پاسخ دمایی آن تحت دوره و سیکل‌های متعدد کاری بررسی شد. در اثر تحریک الکتریکی و بواسطه فشار داخلی ایجاد شده درون میکروکپسول‌های حاوی اتانول که به صورت تصادفی در زمینه کامپوزیت توزیع شده، در دمای تغییر فاز اتانول ، نیروی مکانیکی مورد نیاز جهت جابه‌جایی ربات نرم مهیا می‌گردد. بررسی رفتار حرکتی ربات نرم، بیانگر پاسخگویی مطلوب در روز اول و دوم کاری(به ترتیب 55/8 و 2/6 میلی‌متر جابه‌جایی) بود. هم‌چنین ثبت دمای سطحی و داخلی کامپوزیت، نشان‌دهنده پایداری دمایی ماده بوده، به طوریکه دمای سطح و هسته به ترتیب حداکثر به  48 و 81 درجه سانتی‌گراد رسید. هم‌چنین ماده در پایان دوره تحریک و در روز هفتم، حدود 11% کاهش وزن در اثر هدر رفت اتانول داشته که بیانگر عملکرد مطلوب کامپوزیت در خصوص انبارش و حفظ سیال تغییر فازدهنده است.

کلیدواژه‌ها


عنوان مقاله [English]

Novel High-Cycle-Life Soft Actuator Using Silicon Elastomer Matrix and Ethanol

نویسندگان [English]

  • Hojat Zamyad 1
  • Amirhossein Ebrahimi 2
  • Samane Sahebian 2
  • Jvad Safaie 1
1 Department of electronic engineering, ferdowsi university of mashhad, mashhad, iran
2 Department of materials and metallurgy engineering, ferdowsi university of mashhad, mashhad, iran
چکیده [English]

The application of conventional actuators such as hydraulic and pneumatic motors and artificial muscles is limited in many areas due to their heavy weight, large dimensions, and excessive noise. In recent years, many researchers and scientists have conducted extensive research to introduce a new generation of smart, inexpensive, small, and lightweight operators. In this research, a soft robot with a fast response, using a polymer composite with silicon matrix and ethanol as a phase-changing fluid (secondary phase), was made. Its kinetic behavior and temperature response under several periods and working cycles were investigated. Due to the electrical actuation and the internal pressure created inside the microcapsules containing ethanol, which are randomly distributed in the composite matrix, at the ethanol phase change's temperature, the mechanical force required to move the soft robot is provided. The evaluation of soft robot dynamic operation showed optimal response on the first and second working days (8.55 and 6.2mm of displacement, respectively). Also, the external and internal temperature of the composite indicates the temperature stability of the material, which respectively reached a maximum of 48 and 81°C. Also, at the end of the actuation period on the seventh day, the material had about 11% weight reduction due to ethanol loss, which indicates the desirable performance of the composite in terms of storage and retention of the phase-changing fluid.

کلیدواژه‌ها [English]

  • soft robot
  • dynamic operation
  • phase change fluid
  • Silicon
  • Ethanol
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