Abstract：
Soft robots mimic the agility of living organisms without rigid joints and muscles. Continuum bending (CB) is one type of motion living organisms can display. CB can be achieved using pneumatic, electroactive, or thermal actuators prepared by casting an active layer on a passive layer. The corresponding input actuates only the active layer in the assembly resulting in the bending of the structure. These two different layers must be laminated well during manufacturing. However, the formed bilayer can still delaminate later, and the detachment hampers the actuator\'s reversible, long-time use. An approach to creating a single material bending actuator was previously reported, for which spatial gradient swelling was used. This authentic approach allows a single material to be manufactured as a bending actuator, allowing easy access to such actuators without lamination. In this study, we show spatial porosity differences in the sponges of polydimethylsiloxane (PDMS) (a common material in soft robotics) can be used to create the required anisotropy for bending. The spongy polymers are manufactured through table sugar templates and actuated by (organic) solvent absorption/desorption. This enables some versatility in the mechanical properties, shape, actuation force, and actuation speed. The one-material system\'s straightforward production and seamless nature are advantageous for reversible and repetitive bending. This simple method can further be developed in hydrogels and polymers for soft robotics and functional materials.
摘要：
软机器人模仿没有刚性关节和肌肉的生物体的敏捷性。连续弯曲(CB)是生物体所能表现的一种运动类型。CB可以使用气动实现，电活性,或通过在无源层上浇铸有源层来制备的热致动器。相应的输入仅致动组件中的有源层,从而导致结构的弯曲。这两个不同的层在制造过程中必须很好地层压。然而,形成的双层仍然可以在以后分层，和分离妨碍致动器的可逆，长时间使用。以前报道了一种创建单一材料弯曲致动器的方法，使用空间梯度肿胀。这种真实的方法允许将单一材料制造为弯曲致动器，允许容易访问这样的致动器没有分层。在这项研究中,我们显示了聚二甲基硅氧烷（PDMS）（软机器人技术中的常见材料）海绵的空间孔隙率差异，可用于创建弯曲所需的各向异性。海绵状聚合物是通过食糖模板制造的，并通过（有机）溶剂吸收/解吸来驱动。这使得一些多功能性的机械性能，形状,致动力,和驱动速度。单材料系统的简单生产和无缝性质有利于可逆和重复弯曲。这种简单的方法可以进一步在用于软机器人和功能材料的水凝胶和聚合物中开发。
