文献翻译电渡活性聚合胶凝体制成的海星状胶凝体机器人的运动设计.docx
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文献翻译电渡活性聚合胶凝体制成的海星状胶凝体机器人的运动设计
Motiondesignofastarfish-shapedgelrobotmade
ofelectro-activepolymergel
MihokoOtakea
YoshiharuKagami
MasayukiInaba
HirochikaInoue
DepartmentofMechano-Informatics,TheUniversityofTokyo,7-3-1Hongo,Bunkyo-Ku,Tokyo113-8656,Japan
DivisionofSystemsandInformationEngineering,HokkaidoUniversity,N13-W8,Kita-ku,Sapporo060-8628,Japan
Abstract
Thispaperproposesamethodtogeneratenovelmotionsofmollusk-typedeformablerobotsmadeofelectro-activepolymergel.Simulationandexperimentalresultsshowthatlargetransformationscanbeobtainedwithmultipleelectrodesinaplanarconfiguration.Wehavedesignedastarfish-shapedgelrobotthatcanturnoverusingspatiallyvaryingelectricfields.
2002PublishedbyElsevierScienceB.V.
Keywords:
Motiondesign;Electro-activepolymer;Gelrobot;Starfish;Deformable
1.Introduction
Deformablerobots,suchasslug,eel,andsnake-likerobotscanadapttosituationsinwhichconventionalartifactsconsistingofrigidlinksandjointsoftenfail.Withtheirflexiblebodies,eelscan,forexample,navigatethroughextremelyclutteredseafloorenvironmentsinaccessibletomorerigidlyconstructedanimals.Actuatorsforrobotsofthefutureareexpectedtobeartificialmuscles.Electro-activepolymergelsareatypeofcandidatematerialforbuildingdeformablerobotslikemolluskbecausetheirshapesandsizesarecontrollablebyelectricfield.Suchgelsrepresentan"opensystem",capableofexchangingmatterandenergywiththeexternalenvironment.
Ourresearchgoalistodevelopasystemforartificialmuscles.Towardsthisend,wehavebeenbuildingprototype"GelRobots",whicharemadeentirelyofelectro-activepolymergel.Thepurposeistoexplorethemechanicaldesignandcontrolmethodologyrequiredforsuchrobots.Initially,wefocusedontherelationshipbetweentheshapeandthebendingresponseofthegel.Weproposedamethodtodesignfunctionsthroughshapedesignofgelrobots[1].Basedonthoseexperiments,weproposedakinematicmodelthatdescribesthetransformationprocessofthegel.Wefoundthattheshapeofthegelcanbepredictedbasedonlocalchemicalreactionsbetweenthegelmaterialandthesurroundingelectricfield[2].Wepresentedamodelingframeworkthatdivideselectro-activepolymersystemsintotwoparts:
thepolymeritselfandanelectricfield.Wefocusedontheelectricfieldratherthanthegelmaterialitselfbyusingthesamegeltomakeavarietyofshapes.Weconductedexperimentsusingaspatiallyvaryingelectricfieldgeneratedbyelectrodesinalineararrangement,andderivedamethodtocalculatetheelectricfield[3].However,wehavenotyetgenerateddynamicmotioninspatiallyvaryingelectricfieldsgeneratedbyelectrodes.
Inthispaper,wecreateanovelmotionofgelrobotsbycombiningthekinematicmodelingmethod[2]andcalculationmethodoftheelectricfield}3}.Wesimulateshapechangesofthegelinspatiallyvaryingelectricfieldsgeneratedbymultipleelectrodes.Bysimultaneouslydrivingrealgelmaterialundersimilarconditions,wecancomparetheresults.Spatiallyvaryingelectricfieldsgeneratedbylineararray,oramatrixarrangementofelectrodescanbringoutinterestingmotionsofthegel,suchasastarfish-shapedgelrobotthatturnsoverbydeformingitswholebody.
2.Simulationframeworkforelectro-activepolymergelrobots
Weselectedatypicalelectro-activepolymergel,poly(2-acrylarmido-2-methyl-
propanesulfonicacid)gel(PAMPSgel)[4,5]anditsco-polymergelfromamongthevarietyofelectro-activepolymersbecauseitsabilitytoundergolargetransformations.Thegelbendsinasurfactantsolutionwhenanelectricfieldisapplied.
Ingeneral,electro-activepolymersystemsconsistofpolymerandelectrodeseitherseparateorcomposite.Bothtypescanbemodeledbyconsideringthelocalelectricalandchemicalinteractionsofapolymer,thesolution,andanelectricfield.Inthisuniformframework(polymersandelectricfields),weanalyzethemechanismoftransformationofthegel(Fig.1).
PAMPSgelisdrivenbyanelectricfieldwhichwasgeneratedbyparallelelectrodesinasurfactantn-dodecylpyridiniumchloridesolutioncontainingsodiumsulfate.Thegelshowssignificantandrapidbendingtowardtheanode.Ifthepolarityoftheelectricfieldisalteredrepeatedly,thegelbendingdirectionoscillates.
Thebendingmotionisbasedonmolecularadsorption[4,6].Thecationicmoleculeswhicharedrivenbytheelectricfieldadsorbonthesurfaceoftheanionicgel[7].Adsorbedmoleculespropagateandgeneratestressonthesurfacewhichcausesstrainonthesurface[8,9].Thuswemodeltheamountofadsorbedmolecules
asafunctionofthenormalvectorofthegel
andcurrentdensityatthesurfaceofthegel
and
[2],
(1)
Thisapproxi