Benouhiba Amine, Rougeot Patrick, Ouisse Morvan, Clévy Cédric, Andreff Nicolas, Rabenorosoa Kanty
FEMTO-ST Institute, Université Bourgogne Franche-Comté, National Center for Scientific Research, Besançon, France.
Front Robot AI. 2019 Nov 28;6:122. doi: 10.3389/frobt.2019.00122. eCollection 2019.
For the last two decades, the development of conducting polymers (CP) as artificial muscles, by materials researchers and chemists, has made establishing a reliable and repeatable synthesis of such materials possible. CP-based milli-robots were mostly unknown in soft robotics, however, today, they play a vital role in robotics and smart materials forums. Indeed, this subclass of soft robots has reached a crucial moment in their history, a moment where they can display rather interesting features, based on established foundations in terms of modeling, control, sensing, and planning in various applications. The purpose of this paper is to present the potential of conductive polymer-based soft milli-robots as high-performance devices for vacuum applications. To that end, a trilayer polypyrrole-based actuator was first used inside a scanning electron microscope (SEM), characterized for different applied voltages, over a relatively long period. Additionally, the tip positioning of the cantilever was also controlled using a closed-loop control. Furthermore, as a proof of concept for more complex soft milli-robots, an S-shaped soft milli-robot was modeled, using a hybrid model comprised of two models; a multi-physics model and a kinematic model. It was then fabricated using laser machining and finally characterized using its tip displacement. polypyrrole-based soft milli-robots proved to have tremendous potential as high-performance soft robots at the microscale for a wide range of applications, including SEM micro-manipulation as well as biomedical applications.
在过去的二十年里，材料研究人员和化学家致力于将导电聚合物（CP）开发为人工肌肉，使得可靠且可重复地合成此类材料成为可能。基于CP的微型机器人在软机器人领域此前大多不为人知，然而如今，它们在机器人技术和智能材料论坛中发挥着至关重要的作用。事实上，这类软机器人已发展至其历史上的关键阶段，在这一阶段，基于在各种应用中的建模、控制、传感和规划等既定基础，它们能够展现出颇为有趣的特性。本文旨在展示基于导电聚合物的软微型机器人作为用于真空应用的高性能设备的潜力。为此，首先在扫描电子显微镜（SEM）内使用了一种基于三层聚吡咯的致动器，并在较长时间内针对不同的施加电压对其进行了表征。此外，还使用闭环控制对悬臂的尖端定位进行了控制。此外，作为更复杂软微型机器人概念验证，使用由多物理模型和运动学模型组成的混合模型对一个S形软微型机器人进行了建模。然后使用激光加工将其制造出来，最后通过其尖端位移对其进行了表征。基于聚吡咯的软微型机器人被证明在微观尺度上作为高性能软机器人具有巨大潜力，可用于广泛的应用，包括SEM微操作以及生物医学应用。
