Ndatenda nekushanyira Nature.com.Uri kushandisa shanduro yebrowser ine tsigiro shoma yeCSS.Kuti uwane ruzivo rwakanyanya, tinokurudzira kuti ushandise browser yakagadziridzwa (kana kudzima Compatibility Mode muInternet Explorer).Pamusoro pezvo, kuti tive nechokwadi chekutsigira kunoenderera, tinoratidza saiti isina masitaera uye JavaScript.
Inoratidza carousel yemasiraidhi matatu panguva imwe chete.Shandisa mabhatani ePashure neAnotevera kufamba nemasiraidhi matatu panguva, kana kushandisa mabhatani anotsveyamisa ari kumagumo kufamba nemasiraidhi matatu panguva.
Kubatanidza machira nemamhasuru ekugadzira kugadzira machira akangwara kuri kukwezva kutarisa kwakawanda kubva kunharaunda dzesainzi nemaindasitiri.Zvipfeko zveSmart zvinopa akawanda mabhenefiti, anosanganisira adaptive nyaradzo uye yakakwirira dhigirii yekuenderana kune zvinhu uku ichipa inoshanda actuation yekufamba kwaunoda uye simba.Chinyorwa ichi chinopa kirasi nyowani yemachira akangwara anorongwa akagadzirwa achishandisa nzira dzakasiyana dzekuruka, kuruka uye kunamira mvura-inofambiswa neartificial muscle fibers.Modhi yemasvomhu yakagadziridzwa kutsanangura reshiyo yesimba rekurebesa remachira akarukwa uye akarukwa, uyezve kushanda kwayo kwakaedzwa nekuyedza.Iyo nyowani "smart" textile inoratidzira yakakwira kuchinjika, kuenderana, uye mechanic programming, ichigonesa akawanda-modal kufamba uye deformation kugona kwehuwandu hwakawanda hwekushandisa.Yakasiyana-siyana smart textile prototypes yakagadzirwa kuburikidza nekuyedza yekuongorora, kusanganisira akasiyana magadzirirwo emhando senge elongation (kusvika 65%), kuwedzera nzvimbo (108%), kuwedzera radial (25%), uye kubhenda kufamba.Pfungwa yekugadziridzwazve kwemaitiro echinyakare matishu kuita anoshanda maumbirwo ebiomimetic maumbirwo ari kuongororwa zvakare.Iwo akafungidzirwa machira akangwara anotarisirwa kufambisa kugadzirwa kweakangwara kupfeka, haptic masisitimu, biomimetic akapfava marobhoti, uye zvinopfekeka zvemagetsi.
Marobhoti akaomarara anoshanda kana achishanda munzvimbo dzakarongeka, asi ane matambudziko neasingazivikanwe mamiriro ekuchinja nharaunda, izvo zvinomisa kushandiswa kwavo mukutsvaga kana kuongorora.Zvisikwa zvinoramba zvichitishamisa nemaitiro mazhinji ekugadzira ekubata nekunze zvinhu uye kusiyana.Semuyenzaniso, matende ezvirimwa zvinokwira anoita mafambiro emhando dzakasiyana-siyana, sekukotama uye kutenderera, kuongorora nzvimbo isingazivikanwe mukutsvaga rutsigiro rwakakodzera1.Iyo Venus flytrap (Dionaea muscipula) ine mvere dzinonzwa pamashizha ayo, kana ikamutswa, inosvetukira panzvimbo kuti ibate mhuka2.Mumakore achangopfuura, deformation kana deformation yemitumbi kubva pambiri-dimensional (2D) nzvimbo kusvika kune matatu-dimensional (3D) maumbirwo anotevedzera zvimiro zvebhayoloji yave inonakidza tsvakiridzo musoro3,4.Aya magadzirirwo akapfava erobhoti anoshandura chimiro kuti aenderane nekuchinja nharaunda, anogonesa multimodal locomotion, uye kushandisa masimba kuita mechanic basa.Kusvika kwavo kwasvika kune akasiyana marobhoti maapplication, anosanganisira deployables5, anogadzirika uye anozvipeta marobhoti6,7, biomedical zvishandiso8, mota9,10 uye anowedzera emagetsi11.
Tsvagiridzo zhinji yakaitwa kugadzira maplateti anogoneka ayo, kana aitwa, anoshanduka kuita zvimiro zvakaoma-matatu3.Pfungwa yakapfava yekugadzira zvimiro zvinoremara ndeyekubatanidza zvidimbu zvezvinhu zvakasiyana zvinochinjika uye kuunyana kana zvaratidzwa kune zvinokurudzira12,13.Janbaz et al.14 uye Li et al.15 vakashandisa iyi pfungwa kugadzira kupisa-sensitive multimodal deformable marobhoti.Origami-based structures zvinosanganisira zvinokurudzira-zvinopindurwa zvakashandiswa kugadzira zvakaoma-matatu-dimensional maitiro16,17,18.Akafuridzirwa nemorphogenesis yezvimiro zvehupenyu, Emmanuel et al.Shape-deformable elastomers inogadzirwa nekuronga nzira dzemhepo mukati merubha pamusoro iyo, pasi pekumanikidzwa, inoshanduka kuita yakaoma, inopokana matatu-dimensional maumbirwo.
Iko kubatanidzwa kwemachira kana machira mumarobhoti akapfava akapfava ndeimwe purojekiti nyowani yaunza kufarira kwakapararira.Micheka zvinhu zvakapfava uye zvakapfava zvinogadzirwa kubva pashinda nekuruka hunyanzvi hwakadai sekurukwa, kuruka, kuruka, kana kuruka mapfundo.Izvo zvinoshamisa zvimiro zvemachira, zvinosanganisira kuchinjika, kukwana, elasticity uye kufema, zvinoita kuti zvive zvakakurumbira mune zvese kubva kune zvipfeko kusvika kune zvekurapa zvikumbiro20.Pane nzira nhatu dzakafara dzekubatanidza machira mu robotics21.Nzira yekutanga ndeyekushandisa machira sechinhu chinongo tsigira kana chigadziko chezvimwe zvikamu.Muchiitiko ichi, machira epassive anopa kugadzika kwakakodzera kumushandisi kana akatakura zvinhu zvakaomarara (motor, sensors, magetsi).Mazhinji marobhoti akapfava anopfeka kana manyoro exoskeleton anowira pasi peiyi nzira.Semuyenzaniso, maexoskeleton akapfava anopfekeka ekubatsira kufamba 22 uye magokora 23, 24, 25, magirovhosi akapfava anopfekwa 26 erubatsiro rwemaoko nemunwe, uye bionic nyoro marobhoti 27.
Yechipiri maitiro ndeyekushandisa machira seasingaite uye mashoma zvikamu zvezvinyoro marobhoti zvishandiso.Textile based actuators inowira muchikamu ichi, uko jira rinowanzo vakwa sechigadziko chekunze kuti rive nehose yemukati kana kamuri, ichigadzira yakapfava fiber inosimbisa actuator.Kana ichiiswa kune yekunze pneumatic kana hydraulic sosi, aya akapfava actuators anochinja chimiro, kusanganisira kureba, kukotama kana kumonyoroka, zvichienderana nekuumbwa kwavo kwepakutanga uye kumisikidzwa.Somuenzaniso, Talman et al.Chipfeko cheOrthopedic ankle, chine nhevedzano yehomwe yejira, yakaunzwa kuti ifambise kupenya kweplantar kudzoreredza gait28.Textile layers ine extensibility yakasiyana inogona kusanganiswa kugadzira anisotropic movement 29.OmniSkins - akapfava marobhoti matehwe akagadzirwa kubva akasiyana akapfava actuators uye substrate zvinhu zvinogona kushandura passive zvinhu kuita multifunctional anoshanda marobhoti anogona kuita akawanda-modal mafambiro uye deformation kune akasiyana maapplication.Zhu et al.vakagadzira mvura yetsandanyama sheet31 iyo inogona kuburitsa kurebesa, kukotama, uye akasiyana deformation mafambiro.Buckner et al.Batanidza faibha dzinoshanda kuita dzakajairwa matishu kugadzira marobhoti tishu ane akawanda mabasa akadai se actuation, sensing, uye variable stiffness32.Dzimwe nzira dziri muchikamu ichi dzinogona kuwanikwa mumapepa aya 21, 33, 34, 35.
Nzira ichangoburwa yekubatanidza hukuru hwemachira mumunda weakapfava marobhoti ndeye kushandisa reactive kana stimulus-inopindura filaments kugadzira machira akangwara uchishandisa echinyakare machira ekugadzira machira senge kuruka, kuruka uye kuruka nzira21,36,37.Zvichienderana nekuumbwa kwezvinhu, reactive shinda inokonzera shanduko yechimiro kana ichiiswa kumagetsi, kupisa kana kumanikidza chiito, izvo zvinotungamira ku deformation yejira.Nenzira iyi, apo machira echinyakare akabatanidzwa mune yakapfava robotic system, kugadziridzwa kwemucheka kunoitika mukati memukati (shinda) pane yekunze.Saka nekudaro, machira akangwara anopa kubata kwakanaka maererano nemultimodal kufamba, programmable deformation, kutambanudza, uye kugona kugadzirisa kuoma.Semuyenzaniso, maumbirwo endangariro alloys (SMAs) uye chimiro chendangariro mapolymers (SMPs) anogona kuiswa mumachira kuti ashingaire kudzora chimiro chawo kuburikidza nekukurudzira kwekupisa, senge hemming38, wrinkle kubvisa36,39, tactile uye tactile mhinduro40,41, pamwe nekugadzirisa. zvipfeko zvinopfekwa.zvishandiso 42 .Zvisinei, kushandiswa kwesimba rinopisa pakupisa nekutonhodza kunoguma nekunonoka kupindura uye kutonhora kwakaoma uye kutonga.Munguva pfupi yapfuura, Hiramitsu et al.Tsandanyama dzakanaka dzeMcKibben43,44, tsandanyama dzepneumatic artificial, dzinoshandiswa seshinda dzewarp kugadzira machira akasiyana siyana anoshanda nekushandura maumbirwo eweave45.Kunyange zvazvo nzira iyi inopa masimba akakwirira, nekuda kwechimiro cheMcKibben muscle, chiyero chayo chekuwedzera chinogumira (<50%) uye zviduku hazvigone kuwanikwa (diameter <0.9 mm).Pamusoro pezvo, zvave zvakaoma kuumba akangwara machira mapatani kubva kunzira dzekuruka dzinoda makona akapinza.Kugadzira huwandu hwakakura hwemachira akangwara, Maziz et al.Electroactive wearable textiles akagadzirwa nekuruka nekuruka tambo dzepolymer46.
Mumakore achangopfuura, rudzi rutsva rwe thermosensitive artificial muscle yakabuda, yakavakwa kubva kune yakamonyoroka, isingadhure polymer fibers47,48.Mafiibha aya anowanikwa pakutengesa uye anopinzwa nyore nyore mukurukwa kana kuruka kuti abudise mbatya dzakangwara dzinotengeka.Zvisinei nekufambira mberi, aya machira matsva anonzwa kupisa ane nguva shoma yekupindura nekuda kwekudiwa kwekudziya nekutonhodza (semuenzaniso machira anodzorwa tembiricha) kana kuomerwa kwekugadzira akarukwa uye akarukwa mapatani anogona kurongwa kuti abudise inodiwa deformation uye mafambiro. .Mienzaniso inosanganisira kuwedzera radial, 2D kusvika 3D chimiro shanduko, kana bi-directional kuwedzera, izvo zvatinopa pano.
Kukunda aya matambudziko ambotaurwa, chinyorwa ichi chinopa nyowani-inofambiswa nemvura yakangwara machira yakagadzirwa kubva kune yedu ichangobva kuunzwa yakapfava artificial muscle fibers (AMF)49,50,51.MaAMF anochinjika zvakanyanya, anochinjika uye anogona kudzikiswa kusvika padhayamita ye 0.8 mm uye kureba kwakakura (inenge 5000 mm), achipa chiyero chepamusoro (kureba kusvika dhayamita) pamwe nekurebesa kwepamusoro (inenge 245%), simba rakawanda. kunyatsoita, isingasviki 20Hz nekukurumidza mhinduro).Kugadzira machira akangwara, isu tinoshandisa AMF seshinda inoshanda kugadzira 2D inoshanda mhasuru maseru kuburikidza nekurukwa nekuruka nzira.Isu takadzidza muhuwandu huwandu hwekuwedzera uye simba rekudzivirira kweaya "smart" tishu maererano nehuwandu hwemvura uye kumanikidzwa kunounzwa.Analytical modhi akagadziridzwa kumisikidza hukama hwesimba rerefu reakarukwa uye akarukwa mapepa.Isu tinotsanangurawo akati wandei mechanic programming matekiniki ezvipfeko zvakangwara zvekufamba kwemultimodal, kusanganisira bi-directional yekuwedzera, kukotama, kuwedzera radial, uye kugona kushandura kubva ku2D kuenda ku3D.Kuti tiratidze kusimba kwemaitiro edu, isu tichabatanidzawo AMF mumachira ekutengesa kana machira kuti achinje magadzirirwo azvo kubva kune passive kuenda kune anoshanda maumbirwo anokonzera kwakasiyana deformation.Takaratidzawo pfungwa iyi pamabhenji ekuedza akati wandei, anosanganisira kupeta shinda kuti abudise mavara anodiwa uye maumbirwo-anochinja-chinja zvimiro zvebhayoloji kuita maumbirwo ezvinhu zvakaita semashavishava, mativi mana nemaruva.
Machira anochinjika maviri-dimensional zvimiro akaumbwa kubva kune akarukwa-dimensional shinda seshinda, shinda uye faibha.Textile ndeimwe yematekinoroji ekare erudzi rwevanhu uye inoshandiswa zvakanyanya mumativi ese ehupenyu nekuda kwekunyaradza kwayo, kuchinjika, kufema, aesthetics uye dziviriro.Machira eSmart (anozivikanwawo sembatya dzakangwara kana machira emurobhoti) ari kuwedzera kushandiswa mukutsvagisa nekuda kwekugona kwawo kukuru mukushandisa marobhoti20,52.Zvipfeko zveSmart zvinovimbisa kuvandudza ruzivo rwevanhu rwekudyidzana nezvinhu zvakapfava, zvichiunza shanduko yeparadigm mumunda umo kufamba uye masimba emucheka mutete, unochinjika unogona kudzorwa kuita mamwe mabasa.Mubepa rino, tinoongorora nzira mbiri dzekugadzira micheka yakangwara zvichibva pane yedu yazvino AMF49: (1) shandisa AMF seshinda inoshanda kugadzira machira akangwara uchishandisa echinyakare machira ekugadzira matekinoroji;(2) isa AMF yakananga mumachira echinyakare kuti ikurudzire kufamba kwaunoda uye deformation.
Iyo AMF ine yemukati silicone chubhu yekupa hydraulic simba uye yekunze helical coil kudzikamisa kuwedzera kwayo radial.Saka, maAMF anorebesa kureba kana kudzvanyirirwa kuchishandiswa uye zvobva zvaratidza masimba echibvumirano kuti adzokere kuhurefu hwawo hwepakutanga kana kudzvanywa kwaburitswa.Vane zvimiro zvakafanana netambo dzechinyakare, kusanganisira kuchinjika, dhayamita diki uye kureba.Nekudaro, iyo AMF inoshanda zvakanyanya uye inodzorwa maererano nekufamba uye kusimba kupfuura ayo akajairwa nawo.Tichifemerwa nekufambira mberi nekukurumidza mumachira akangwara, pano tinopa nzira ina huru dzekugadzira machira akangwara nekushandisa AMF kune yakagara yakasimbiswa yekugadzira machira tekinoroji (Mufananidzo 1).
Nzira yekutanga ndeyekuruka.Isu tinoshandisa weft knitting tekinoroji kugadzira reactive rakarukwa jira rinovhurika mune imwe nzira kana hydraulically actuated.Mashizha akarukwa akatambanudzwa uye anotambanuka asi anowanzo kunyururwa zviri nyore kupfuura machira akarukwa.Zvichienderana nemaitiro ekudzora, AMF inogona kugadzira mitsara yega kana zvigadzirwa zvakakwana.Pamusoro pemapepa akatsetseka, tubular knitting mapatani akakodzerawo kugadzirwa kweAMF hollow zvimiro.Nzira yechipiri ndeyekuruka, apo tinoshandisa maAMF maviri sewap uye weft kugadzira bepa rakarukwa rine rectangular rinogona kuwedzera rakazvimiririra mumativi maviri.Mashizha akarukwa anopa kutonga kwakawanda (mumativi ese) kupfuura machira akarukwa.Isu takarukawo AMF kubva kune shinda yechinyakare kugadzira jira rakarukwa riri nyore rinokwanisa kuvhurwa munzira imwe chete.Nzira yechitatu - kuwedzera kweradial - mutsauko wehunyanzvi hwekuruka, umo maAMPs anowanikwa kwete murectangle, asi mumhepo, uye tambo dzinopa radial kumanikidza.Muchiitiko ichi, braid inowedzera radially pasi pekumanikidzwa kwekupinda.Nzira yechina ndeyekunamira iyo AMF pabepa rejira rekuita kuti rigadzire kukotama munzira yaunoda.Isu takagadzirisa zvakare passive breakout board kuita inoshanda breakout board nekumhanyisa iyo AMF kumucheto kwayo.Ichi chinorongeka chimiro che AMF chinovhura zvisingaverengeke mikana yebio-yakafuridzirwa chimiro-inoshandura zvimiro zvakapfava uko isu tinogona kushandura zvinhu zvisingaite kuita zvinoshanda.Iyi nzira iri nyore, iri nyore, uye inokurumidza, asi inogona kukanganisa hupenyu hurefu hweiyo prototype.Muverengi anorehwa dzimwe nzira dziri mumabhuku dzinotsanangura kusimba uye kusasimba kwechinhu chimwe nechimwe chenyama21,33,34,35.
Shinda zhinji kana shinda dzinoshandiswa kugadzira machira echinyakare dzine zvimiro zvepasi.Mubasa iri, isu tinoshandisa AMF yedu yakambogadzirwa, iyo inogona kusvika kureba kwemamita uye submillimeter madhayamita, kutsiva echinyakare passive textile warns neAFM kugadzira machira akangwara uye anoshanda ehuwandu hwakawanda hwekushandisa.Zvikamu zvinotevera zvinotsanangura nzira dzakadzama dzekugadzira smart textile prototypes uye kuratidza mabasa avo makuru nemafambiro.
Takagadzira majezi matatu eAMF nemaoko tichishandisa nzira yekuruka shinda (Fig. 2A).Kusarudzwa kwezvinhu uye kutsanangurwa kwakadzama kweAMFs uye prototypes inogona kuwanikwa muchikamu cheNzira.Imwe neimwe AMF inotevera nzira inomonereka (inonziwo nzira) inoumba symmetrical loop.Zvishwe zvemutsara wega wega zvakagadziriswa nezvishwe zvemitsara kumusoro uye pasi pazvo.Mhete dzeimwe column perpendicular to the course inosanganiswa kuita shaft.Yedu yakarukwa prototype ine mitsara mitatu yezvinomwe mitsara (kana misono minomwe) mumutsara wega wega.Mhete dzepamusoro uye dzepasi hadzina kugadzikiswa, saka tinogona kudzibatanidza kune dzinoenderana nesimbi dzesimbi.Yakarukwa prototypes yakanyururwa zviri nyore kupfuura machira akarukwa akajairwa nekuda kwekuoma kwepamusoro kweAMF zvichienzaniswa neshinda dzemazuva ese.Nokudaro, takasunga zvishwe zvemitsara yakatarisana netambo dzakatetepa elastic.
Yakasiyana-siyana smart textile prototypes iri kuitwa neakasiyana maAMF masisitimu.(A) Pepa rakarukwa rakagadzirwa kubva kumaAMF matatu.(B) Bidirectional yakarukwa pepa remaAMF maviri.(C) Pepa rakarukwa risina unidirectional rakagadzirwa kubva kuAMF uye acrylic warn rinogona kutakura mutoro we500g, inova yakapetwa ka192 kurema kwayo (2.6g).(D) Inowedzera kuwedzera chimiro neAMF imwe uye shinda yekotoni se radial inomanikidza.Tsanangudzo dzakadzama dzinogona kuwanikwa muchikamu cheMethods.
Kunyangwe iyo zigzag zvishwe zveyakarukwa zvichigona kutambanudza munzira dzakasiyana, yedu prototype yakarukwa inokura zvakanyanya munzira yechiuno pasi pekumanikidzwa nekuda kwekugumira munzira yekufamba.Kurebesa kweAMF yega yega kunobatsira mukuwedzera kwenzvimbo yese yepepa rakarukwa.Zvichienderana nezvinodiwa chaizvo, tinogona kudzora maAMF matatu takazvimiririra kubva kune matatu akasiyana emvura masosi (Mufananidzo 2A) kana panguva imwe chete kubva kune imwe sosi yemvura kuburikidza ne1-to-3 fluid distributor.Pamusoro pemuonde.2A inoratidza muenzaniso weyakarukwa prototype, nzvimbo yekutanga iyo yakawedzera ne35% ichishandisa kumanikidza kune matatu AMPs (1.2 MPa).Zvinonyanya kukosha, AMF inowana kureba kweanenge 250% yehurefu hwayo hwepakutanga49 saka mashiti akarukwa anogona kutambanudza kunyange kupfuura shanduro dzazvino.
Takagadzirawo bidirectional weave sheets akaumbwa kubva kumaAMF maviri tichishandisa nzira yekuruka (Mufananidzo 2B).AMF warp uye weft zvakabatanidzwa pamakona ekurudyi, zvichigadzira iri nyore criss-cross pattern.Yedu yemuenzaniso weave yakarongedzerwa seyakarukana yepakati nekuti shinda dzese dzakagadzirwa kubva pakukura kweshinda imwechete (ona chikamu cheNzira kuti uwane ruzivo).Kusiyana neshinda dzakajairwa dzinogona kupinza mapete akapinza, iyo AMF yakaiswa inoda imwe radius yekupeta kana ichidzokera kune imwe shinda yepateni yekuruka.Naizvozvo, machira akarukwa akagadzirwa kubva kuAMP ane density yakaderera kana ichienzaniswa neyakarukwa machira.AMF-mhando S (dhayamita rekunze 1.49 mm) ine diki yekubhenda radius ye1.5 mm.Semuenzaniso, prototype weave yatinopa muchinyorwa chino ine 7 × 7 shinda patani apo mharadzano yega yega inodzikamiswa nepfundo retambo yakatetepa.Uchishandisa nzira imwechete yekuruka, unogona kuwana tambo dzakawanda.
Kana iyo AMF inoenderana inogamuchira kudzvanywa kwemvura, shizha rakarukwa rinowedzera nzvimbo yaro munzira yewap kana weft.Naizvozvo, isu takadzora zviyero zveshizha rakarukwa (kureba nehupamhi) nekuzvimiririra kushandura huwandu hwekudzvanywa kwekupinda kwakaiswa kune maviri AMPs.Pamusoro pemuonde.2B inoratidza yakarukwa prototype yakawedzera kusvika 44% yenzvimbo yayo yepakutanga ichishandisa kumanikidza kune imwe AMP (1.3 MPa).Nekuita panguva imwe chete yekumanikidza maAMF maviri, nzvimbo yakawedzera ne108%.
Isu takagadzirawo unidirectional jira rakarukwa kubva kune imwechete AMF ine warp uye acrylic yarns seweft (Mufananidzo 2C).Ma AMF akarongwa mumitsara minomwe ine zigzag uye shinda dzinoruka mitsara yemaAMF pamwe chete kuita pepa rejira rekona.Uyu mufananidzo wakarukwa waive mutete kupfuura mumufananidzo 2B, nekuda kwetambo dzakapfava dzeacrylic dzaizadza bepa rese zviri nyore.Nekuti isu tinongoshandisa AMF imwe chete seyakarukwa, shizha rakarukwa rinogona kungowedzera rakananga kune warp pasi pekumanikidzwa.Mufananidzo 2C unoratidza muenzaniso weiyo yakarukwa prototype iyo yekutanga nzvimbo inowedzera ne65% nekuwedzera kumanikidza (1.3 MPa).Mukuwedzera, ichi chimedu chakarukwa (chinorema 2.6 gramu) chinogona kusimudza mutoro wemagiramu 500, iyo inopeta ka192 kuwanda kwayo.
Panzvimbo pekuronga iyo AMF mune yegzag pateni kuti igadzire rectangular rakarukwa bepa, isu takagadzira flat spiral shape yeAMF, iyo yakabva yamanikidzwa neshinda yedonje kugadzira jira rakarukwa (Figure 2D).Iyo yakanyanya kuomarara ye AMF inodzikamisa kuzadza kwayo kwepakati dunhu rendiro.Nekudaro, iyi padding inogona kugadzirwa kubva kune elastic yarns kana elastic machira.Pakugamuchira hydraulic pressure, iyo AMP inoshandura kureba kwayo kuita dhizaini yekuwedzera kwebepa.Izvo zvakakoshawo kucherechedza kuti ese ekunze uye emukati madhayamita eiyo spiral chimiro anowedzera nekuda kwekuremerwa kweradial ye filaments.Mufananidzo 2D unoratidza kuti neyakaiswa hydraulic pressure ye1 MPa, chimiro chepepa rakatenderera rinowedzera kusvika 25% yenzvimbo yayo yepakutanga.
Isu tinopa pano nzira yechipiri yekugadzira machira akangwara apo isu tinonamira AMF kune yakatsetseka chidimbu chejira uye tochigadzirisa zvakare kubva pane inongomira kuenda kune inoshinga kudzora chimiro.Dhizaini yedhizaini yekubhenda drive inoratidzwa mufig.3A, apo AMP inopetwa pasi nepakati uye yakanamirwa pamucheka wemucheka usingawedzereki (mucheka wekotoni muslin) uchishandisa tepi ine mativi maviri seanonamira.Kana yavharwa, pamusoro pe AMF yakasununguka kuwedzera, nepo pasi inogumira tepi uye jira, zvichiita kuti mutsara ukotamire kune jira.Tinogona kudzima chero chikamu che bend actuator chero kupi nekungonamira tambo yetepi pairi.Chikamu chakavharwa hachigone kufamba uye chinova chikamu chekungoita.
Micheka inogadziridzwa zvakare nekunamira AMF pamachira echinyakare.(A) Dhizaini yedhizaini yekubhenda drive yakagadzirwa nekunamira yakapetwa AMF pajira risinga wedzereke.(B) Kupeta kweiyo actuator prototype.(C) Kugadziriswazve kwejira rectangular kuita robhoti inoshanda ine makumbo mana.Inelastic jira: cotton jersey.Tambanudza jira: polyester.Tsanangudzo dzakadzama dzinogona kuwanikwa muchikamu cheMethods.
Isu takagadzira akati wandei prototype bending actuators ehurefu hwakasiyana uye tikavamanikidza ne hydraulics kuti vagadzire kukotama kufamba (Mufananidzo 3B).Zvakakosha, iyo AMF inogona kuiswa mumutsara wakatwasuka kana kupetwa kuti igadzire shinda dzakawanda uye yobva yanamirwa pajira kugadzira dhiraivha yekupeta ine nhamba yakakodzera yeshinda.Isu takashandurawo passive tissue sheet kuita inoshanda tetrapod chimiro (Mufananidzo 3C), kwatakashandisa AMF kufambisa miganhu yerectangular inextensible tissue (cotton muslin fabric).AMP inosungirirwa pamucheka nechidimbu chematepi ane mativi maviri.Pakati pemupendero wega wega inotepwa kuti iite passive, nepo makona mana anoramba achishanda.Tambanudza jira repamusoro chivharo (polyester) inosarudzika.Makona mana emucheka bend (inoratidzika semakumbo) kana yakamanikidzwa.
Isu takavaka bhenji rekuyedza kuti tidzidze zvakanyanya zvimiro zveakagadziridzwa machira akangwara (ona iyo Methods chikamu uye Supplementary Figure S1).Sezvo sampuli dzose dzakagadzirwa neAMF, maitiro akazara emigumisiro yekuedza (Fig. 4) inopindirana nemhando huru yeAMF, kureva, inlet pressure inopindirana zvakananga nekureba kwekubuda uye inversely proportional kune simba rekumanikidza.Nekudaro, aya machira akangwara ane akasiyana maitiro anoratidza iwo chaiwo magadzirirwo.
Inosanganisira smart textile configuration.(A, B) Hysteresis curves yekupinza inlet uye outlet elongation uye simba remashizha akarukwa.(C) Kuwedzera kwenzvimbo yepepa rakarukwa.(D,E) Hukama pakati pekudzvanya kwekuisa uye kubuda kurebesa uye simba rekurukana.(F) Nzvimbo yekuwedzera ye radially kuwedzera zvivakwa.(G) Kupeta makona ehurefu hutatu hwakasiyana hwemadhiraivha ekubhenda.
Imwe neimwe AMF yepepa yakarukwa yakaiswa pasi pekumanikidzwa kwekupinda kwe1 MPa kuti ibudise inenge 30% elongation (Fig. 4A).Isu takasarudza chikumbaridzo ichi chekuedza kwese nekuda kwezvikonzero zvakati: (1) kugadzira kurebesa kwakakosha (inenge 30%) kusimbisa yavo hysteresis curves, (2) kudzivirira kuchovha bhasikoro kubva kune kwakasiyana kuyedza uye reusable prototypes zvichikonzera kukuvara netsaona kana kukundikana..pasi pekumanikidzwa kwemvura zhinji.Iyo nzvimbo yakafa inonyatso kuoneka, uye iyo braid inoramba isingafambi kusvika iyo inlet yekumanikidza yasvika 0.3 MPa.The pressure elongation hysteresis plot inoratidza mukaha mukuru pakati pekupomba nekusunungura zvikamu, zvichiratidza kuti pane kurasikirwa kukuru kwesimba apo bepa rakarukwa rinoshandura mafambiro aro kubva pakuwedzera kusvika pakudhonzwa.(Mufananidzo 4A).Mushure mekuwana inlet pressure ye 1 MPa, pepa rakarukwa rinogona kushandisa simba rekugadzirisa re5.6 N (Fig. 4B).Iyo pressure-force hysteresis plot inoratidzawo kuti reset curve inenge yadarika nekumanikidza kuvaka-up curve.Kuwedzerwa kwenzvimbo kwebepa rakarukwa kwaienderana nehuwandu hwekumanikidza hunoshandiswa kune imwe neimwe yeAMFs maviri, sezvakaratidzwa mu 3D surface plot (Mufananidzo 4C).Ongororo dzinoratidzawo kuti shizha rakarukwa rinogona kuburitsa nzvimbo yekuwedzera ye66% apo maAMF ayo anochinjika uye weft anoiswa panguva imwe chete pasi pe hydraulic pressure ye1 MPa.
Mhedzisiro yekuedza kweshizha rakarukwa rinoratidza patani yakafanana kune pepa rakarukwa, kusanganisira rakakura hysteresis gap mudhiyabhorosi-kudzvanywa dhayagiramu uye inopindirana yekumanikidza-simba macurves.Pepa rakarukwa rakaratidza kurebesa kwe30%, mushure mezvo simba rekumanikidza raive 9 N pakumanikidzwa kwekupinda kwe1 MPa (Fig. 4D, E).
Kana iri jira rakarukwa rakatenderera, nzvimbo yaro yekutanga yakawedzera ne25% kana ichienzaniswa nenzvimbo yekutanga mushure mekusangana nekumanikidzwa kwemvura ye1 MPa (Fig. 4F).Sample isati yatanga kuwedzera, kune hombe inlet pressure yakafa nzvimbo inosvika 0.7 MPa.Iyi nzvimbo hombe yakafa yaitarisirwa sezvo masampuli akagadzirwa kubva kuAMFs hombe izvo zvaida kudzvanyirirwa kwepamusoro kukunda kushushikana kwavo kwekutanga.Pamusoro pemuonde.4F inoratidzawo kuti iyo yekuburitsa curve inopindirana nekumanikidza kuwedzera curve, zvichiratidza kushomeka kwesimba kana disc kufamba kwachinja.
Mhedzisiro yemhedzisiro yevatatu bending actuators (tissue reconfiguration) inoratidza kuti yavo hysteresis curves ine yakafanana pateni (Figure 4G), kwavanosangana ne inlet pressure dead zone inosvika 0.2 MPa vasati vasimudza.Isu takaisa vhoriyamu imwechete yemvura (0.035 ml) kune matatu ekubhenda madhiraivha (L20, L30 uye L50 mm).Nekudaro, imwe neimwe actuator yakasangana nekudzvanywa kwakasiyana uye yakagadzira makona akasiyana ekukotama.Iwo L20 uye L30 mm actuators akawana inlet kudzvanywa kwe0.72 uye 0.67 MPa, ichisvika pakukotama angles ye167 ° uye 194 ° zvichiteerana.Iyo yakareba kubhenda dhiraivha (kureba 50 mm) yakashingirira kumanikidzwa kwe0.61 MPa uye yakasvika pakukombama kona ye236 °.Iyo pressure angle hysteresis plots yakaratidzawo mikaha yakakura pakati pekudzvanyirira uye kuburitsa macurves eese matatu ekubhenda madhiraivha.
Hukama huri pakati pevhoriyamu yekupinza uye inobuda zvivakwa (kurebesa, simba, kuwedzera nzvimbo, kona yekukotama) kune epamusoro smart machira masisitimu anogona kuwanikwa muSupplementary Figure S2.
Mhedzisiro yekuedza muchikamu chakapfuura inoratidza zvakajeka hukama hwakaenzana pakati pekuiswa inlet kudzvanywa uye kubuda kwekuwedzera kwemasampunzi eAMF.Iyo yakasimba iyo AMB inodzvinyirirwa, iyo yakakura kurebesa kwainokura uye yakawanda elastic simba inounganidza.Nokudaro, kuwedzera kwesimba rekumanikidza kwarinoita.Mhedzisiro yacho yakaratidzawo kuti zvienzaniso zvakasvika pakunyanya kumanikidza simba apo inlet pressure yakabviswa zvachose.Ichi chikamu chine chinangwa chekumisikidza hukama hwakananga pakati pekurebesa uye yakanyanya kuderera simba reakarukwa uye akarukwa masheets kuburikidza neanalytical modhi uye yekuongorora ongororo.
Iyo yakanyanya contractile force Fout (pakumanikidza inlet P = 0) yeimwe AMF yakapihwa muref 49 uye yakaunzwazve sezvizvi:
Pakati pavo, α, E, uye A0 ndiyo inotambanudza chinhu, Yechidiki modulus, uye muchinjiko-chikamu nharaunda yesilicone chubhu, zvichiteerana;k is the stiffness coefficient of the spiral coil;x uye li zvakagadziriswa uye kureba kwekutanga.AMP, zvichiteerana.
equation chaiyo.(1) Tora machira akarukwa uye akarukwa semuenzaniso (Fig. 5A, B).Iyo shrinkage masimba eyakarukwa chigadzirwa Fkv uye yakarukwa chigadzirwa Fwh inoratidzwa ne equation (2) uye (3), zvichiteerana.
apo mk ndiyo nhamba yezvishwe, φp ikona yechiuno chemucheka wakarukwa panguva yejekiseni (Fig. 5A), mh ndiyo nhamba yeshinda, θhp ndiyo kona yekubatanidza yemucheka wakarukwa panguva yejekiseni (Fig. 5B), εkv εwh ishepa rakarukwa uye deformation yeshizha rakarukwa, F0 ndiko kukakavara kwekutanga kwe spiral coil.Detailed yakatorwa equation.(2) uye (3) inogona kuwanikwa mumashoko anotsigira.
Gadzira muenzaniso wekuongorora wehukama hwehurefu-simba.(A,B) Analytical modhi yemifananidzo yeakarukwa neakarukwa, zvichiteerana.(C, D) Kuenzanisa kweanoongorora modhi uye data rekuyedza reakarukwa uye akarukwa mashiti.RMSE Root zvinoreva square error.
Kuti tiedze iyo yakagadziridzwa modhi, takaita elongation kuyedza tichishandisa yakarukwa mapatani muFig. 2A uye akarukwa samples muFig. 2B.Contraction force yakayerwa mu5% increments yega yega yakakiiwa yekuwedzera kubva pa0% kusvika pa50%.Kutsauka uye kwakajairwa kutsauka kwemiedzo mishanu inoratidzwa muFigure 5C (yakarukwa) uye Mufananidzo 5D (yakarukwa).Macurves eiyo analytical modhi inotsanangurwa ne equations.Maparamita (2) uye (3) anopiwa muTafura.1. Mhedzisiro inoratidza kuti analytical modhi iri kuwirirana nedata rekuyedza pamusoro pesero rerefu rine midzi yeskweya kukanganisa (RMSE) ye0.34 N yezvipfeko zvakarukwa, 0.21 N yeakarukwa AMF H (yakatwasuka) uye 0.17 N. yeAMF yakarukwa.V (yakatwasuka nzira).
Pamusoro pemafambisirwo ekutanga, machira akafungidzirwa anogona kurongwa nemuchina kuti ape mafambiro akaomarara senge S-bend, radial contraction, uye 2D kune 3D deformation.Isu tinopa pano akati wandei nzira dzekugadzira flat smart machira mune anodiwa zvimiro.
Pamusoro pekuwedzera dura mune mutsara kutungamira, unidirectional akarukwa machira anogona kugadziridzwa nemuchina kugadzira multimodal kufamba (Fig. 6A).Isu tinogadzirisazve kuwedzera kweshizha rakarukwa sekufamba kwekukotama, kumanikidza chimwe chezviso zvaro (pamusoro kana pasi) neshinda yekusona.Mashizha anowanzo kukotama akananga kunzvimbo inosungirirwa pasi pekumanikidzwa.Pamusoro pemuonde.6A inoratidza mienzaniso miviri yemapanera akarukwa anoita S-akaita S kana imwe hafu yakamanikana kudivi repamusoro uye imwe hafu yakamanikana kudivi rezasi.Neimwe nzira, iwe unogona kugadzira denderedzwa rekukotama kufamba uko chete kumeso kwese kunomanikidzwa.A unidirectional akarukwa pepa anogonawo kuitwa compression sleeve nokubatanidza magumo aro maviri kuva tubular chimiro (Fig. 6B).Sleeve inopfekwa pamusoro pechigunwe cheindekisi chemunhu kuti ipe compression, rudzi rwemassage therapy yekubvisa marwadzo kana kunatsiridza kufamba.Inogona kuyerwa kuti ikwane dzimwe nhengo dzemuviri dzakadai semaoko, mahudyu, nemakumbo.
Kugona kuruka mapepa mune imwe nzira.(A) Kusikwa kwezvimiro zvinokanganisa nekuda kwekurongeka kwechimiro chekusona shinda.(B) Sleeve yekumanikidza munwe.(C) Imwe vhezheni yeshizha rakarukwa uye kuitiswa kwayo seyanza yekumanikidza sleeve.(D) Imwe compression sleeve prototype yakagadzirwa kubva kuAMF mhando M, acrylic shinda uye Velcro tambo.Tsanangudzo dzakadzama dzinogona kuwanikwa muchikamu cheMethods.
Mufananidzo 6C unoratidza mumwe muenzaniso wepepa rakarukwa rimwechete rakagadzirwa kubva kune imwechete AMF neshinda yedonje.Pepa rinogona kuwedzera ne45% munzvimbo (pa1.2 MPa) kana kukonzera kutenderera kwedenderedzwa pasi pekumanikidzwa.Isu takabatanidzawo pepa kugadzira ruoko rwekumanikidza ruoko nekubatanidza magineti tambo kusvika kumagumo kwepepa.Imwe prototype forearm compression sleeve inoratidzwa muFig. 6D, umo unidirectional akarukwa mapepa akagadzirwa kubva kuRudzi rweM AMF (ona Nzira) uye acrylic yarns kugadzira masimba akasimba ekumanikidza.Isu takashongedza migumo yemashizha neVelcro tambo kuitira nyore kunamatira uye nehukuru hwakasiyana hwemaoko.
Iyo nzira yekudzora, inoshandura mutsara wekuwedzera kuita kubhenda kufamba, inoshandawo kune bidirectional akarukwa mapepa.Isu tinoruka shinda dzedonje kune rumwe rutivi rwewarp uye weft akarukwa machira kuti arege kuwedzera (Fig. 7A).Nekudaro, kana maAMF maviri akagamuchira hydraulic pressure yakazvimiririra kune imwe neimwe, shiti rinopinda bi-directional kukotama kufamba kuti riite inopokana-matatu-dimensional chimiro.Mune imwe nzira, tinoshandisa shinda dzisingawedzereki kuderedza imwe nzira yebidirectional yakarukwa mapepa (Mufananidzo 7B).Saka, pepa rinogona kuita yakazvimirira kupeta uye kutambanudza mafambiro kana inoenderana AMF iri pasi pekumanikidzwa.Pamusoro pemuonde.7B inoratidza muenzaniso wekuti bidirectional jira rakarukwa rinodzorwa kuti riputire zvikamu zviviri kubva muzvitatu zvemunwe wemunhu nekufamba kwekukotama uye wobva wawedzera kureba kuti uvhare zvakasara nekutambanudza.Nzira mbiri-mafambiro emashizha anogona kubatsira pakugadzira fashoni kana kugadzirwa kwembatya dzakangwara.
Bi-directional rakarukwa shiti, rakarukwa shiti uye radially inowedzerwa dhizaini kugona.(A) Bi-directional bonded bi-directional wicker panels kugadzira bi-directional bend.(B) Unidirectionally inomanikidzwa bidirectional wicker mapaneru anoburitsa flex uye elongation.(C) Yakanyanya elastic yakarukwa sheet, iyo inogona kuenderana neyakasiyana curvature uye kunyange kugadzira tubular zvimiro.(D) kuganhurwa kwemutsetse wepakati weiyo radially inowedzera chimiro ichigadzira hyperbolic parabolic chimiro (mbatatisi machipisi).
Takabatanidza zvishwe zviviri zvakatarisana zvemitsetse yepamusoro nechepazasi yechikamu chakarukwa neshinda yekusonesa kuitira kuti isatsemuka (Fig. 7C).Nekudaro, iro rakarukwa shiti rinonyatso kuchinjika uye rinonyatso kuchinjika kune akasiyana epamusoro macurves, senge ganda repamusoro remaoko emunhu nemaoko.Isu takagadzirawo tubular chimiro (sleeve) nekubatanidza magumo echikamu chakarukwa munzira yekufamba.Sleeve inoputira zvakanaka pamunwe wemunhu (Fig. 7C).Iyo sinuosity yejira rakarukwa inopa yakanakisa kukwana uye kuremara, zvichiita kuti zvive nyore kushandisa mukupfeka kwakangwara (magirovhosi, compression sleeve), kupa nyaradzo (kuburikidza nefit) uye kurapa mhedzisiro (kuburikidza nekumanikidza).
Pamusoro pekuwedzera kwe2D radial munzira dzakawanda, denderedzwa rakarukwa mapepa anogona zvakare kurongwa kuti aumbe 3D zvimiro.Isu takaganhura mutsara wepakati weiyo yakarukwa yakarukwa nemucheka we acrylic kukanganisa kuwedzera kwayo radial yunifomu.Nekuda kweizvozvo, yepakutanga sandara chimiro cheraundi rakarukwa pepa rakashandurwa kuita hyperbolic parabolic chimiro (kana mbatatisi machipisi) mushure mekumanikidza (Fig. 7D).Uku kugona kushandura chimiro kunogona kuitwa semushini wekusimudza, lenzi yemaziso, makumbo erobhoti nhare, kana inogona kubatsira mukugadzira fashoni uye mabhoti ebionic.
Isu takagadzira nzira yakapusa yekugadzira madhiraivha emagetsi nekunamira AMF pamucheka wejira risingatambanuke (Mufananidzo 3).Isu tinoshandisa pfungwa iyi kugadzira maumbirwo anorongeka tambo apo isu tinogona kugovera zvine hungwaru zvikamu zvinoshanda uye zvisingaite mune imwe AMF kugadzira maumbirwo anodiwa.Isu takagadzira uye takaronga mafilaments mana anoshanda anogona kushandura chimiro chayo kubva kune yakatwasuka kune tsamba (UNSW) sezvo kumanikidza kwakawedzera (Supplementary Fig. S4).Iyi nzira iri nyore inobvumira kuremara kweAMF kushandura mitsara ye1D kuita 2D zvimiro uye pamwe kunyange 3D zvimiro.
Nenzira yakafanana, takashandisa AMF imwe chete kugadzirisa zvakare chidimbu chechimiro chechimiro chechimiro mu tetrapod inoshanda (Fig. 8A).Mazano ekufambisa uye ekugadzirisa akafanana neanoratidzwa mumufananidzo 3C.Zvisinei, panzvimbo yemashizha emakona, vakatanga kushandisa machira ane quadrupedal pattern (turtle, cotton muslin).Nokudaro, makumbo akareba uye chimiro chinogona kusimudzwa kumusoro.Kureba kwechimiro kunowedzera zvishoma nezvishoma pasi pekumanikidzwa kusvikira makumbo ayo ari perpendicular pasi.Kana iyo inlet pressure ikaramba ichikwira, makumbo achanyura mukati, achidzikisa kureba kwechimiro.Tetrapods inogona kuita locomotion kana makumbo avo akashongedzerwa nema unidirectional mapatani kana kushandisa akawanda maAMF ane mafambiro ekuita.Marobhoti akapfava ekufambisa anodiwa pamabasa akasiyana siyana, anosanganisira kununura kubva kumoto wesango, zvivakwa zvakadonha kana nharaunda dzine njodzi, uye marobhoti ekutumira zvinodhaka.
Mucheka unogadziriswa zvakare kuti ugadzire zvimiro zvekuchinja-kuchinja.(A) Namadza iyo AMF kumuganhu weiyo passive jira pepa, uchiishandura kuita inodzoreka ine makumbo mana chimiro.(BD) Mimwe mienzaniso miviri yekugadziriswazve kwetishu, kushandura mashavishavi nemaruva kuita anoshanda.Mucheka usina kutambanudza: plain cotton muslin.
Isu tinotorawo mukana wekureruka uye kuita kwakasiyana-siyana kweiyi tissue reconfiguration tekinoroji nekuunza maviri ekuwedzera bioinspired zvimiro zvekugadzirisa zvakare (Figures 8B-D).Iine AMF inogona kuchinjika, aya mafomati-akaremara zvimiro anogadziridzwazve kubva pamashiti ezvinyoro zvinyoro kuenda kune zvinoshanda uye zvinodzoreka zvimiro.Tichifemerwa nemonarch butterfly, takagadzira shanduko yeshavishavi tichishandisa chidimbu chejira rakaita seshavishavi (cotton muslin) uye chidimbu chakareba cheAMF chakanamira pasi pemapapiro ayo.Kana AMF iri pasi pekumanikidzwa, mapapiro anopeta.Kufanana neMonarch Butterfly, mapapiro eButterfly Robot kuruboshwe nekurudyi anobhururuka nenzira imwechete nokuti ose anodzorwa neAMF.Butterfly flaps ndeyezvinangwa zvekuratidzira chete.Haikwanise kubhururuka seSmart Shiri (Festo Corp., USA).Isu takagadzirawo ruva rejira (Mufananidzo 8D) rine zvidimbu zviviri zvemapeti mashanu imwe neimwe.Isu takaisa iyo AMF pazasi imwe neimwe nhanho mushure mekunze kwekunze kwepetals.Pakutanga, maruva ari mumaruva akazara, ane petals ose akazaruka zvakakwana.Pasi pekumanikidzwa, iyo AMF inokonzera kukotama kufamba kwemakumbo, zvichiita kuti vavhare.Iwo maviri maAMF akazvimirira anodzora kufamba kwezvikamu zviviri, nepo mapeturu mashanu eimwe layer anochinjika panguva imwe chete.
Nguva yekutumira: Zvita-26-2022