Orozco Felipe, Horvat Diana, Miola Matteo, Moreno-Villoslada Ignacio, Picchioni Francesco, Bose Ranjita K
Department of Chemical Engineering, Product Technology, University of Groningen, Groningen, The Netherlands.
Laboratorio de Polímeros, Instituto de Ciencias Químicas, Facultad de Ciencias, Universidad Austral de Chile, Valdivia, Chile.
Soft Robot. 2023 Aug;10(4):852-859. doi: 10.1089/soro.2022.0170. Epub 2023 Mar 16.
Soft actuators that operate with overpressure have been successfully implemented as soft robotic grippers. Naturally, as these pneumatic devices are prone to cuts, self-healing properties are attractive. Here, we prepared a gripper that operates based on the liquid-gas phase transition of ethanol within its hollow structure. The gripping surface of the device is coated with a self-healing polymer that heals with heat. This gripper also includes a stainless steel wire along the device that heats the entire structure through resistive heating. This design results in a soft robotic gripper that actuates and heals in parallel driven by the same practical stimulus, that is, electricity. Compared to other self-healing soft grippers, this approach has the advantage of being simple and having autonomous self-healing. However, there remain fundamental drawbacks that limit its implementation. The current work critically assesses this overpressure approach and concludes with a broad perspective regarding self-healing soft robotic grippers.
通过超压运行的软驱动器已成功应用于软机器人夹具。自然而然地，由于这些气动装置容易被割破，所以自修复特性很有吸引力。在此，我们制备了一种基于乙醇在其空心结构内的液 - 气相转变来运行的夹具。该装置的抓取表面涂有可通过加热进行自修复的聚合物。这种夹具还包括一根沿着装置的不锈钢丝，它通过电阻加热来加热整个结构。这种设计产生了一种软机器人夹具，它在由相同实际刺激（即电）驱动的情况下，能并行地实现驱动和自修复功能。与其他自修复软夹具相比，这种方法具有简单且能自主自修复的优点。然而，仍然存在一些基本缺点限制了其应用。当前的工作对这种超压方法进行了批判性评估，并以关于自修复软机器人夹具的广泛视角得出结论。
