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

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