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研究生： 黃琮偉
Huang, Cong-Wei
論文名稱： 利用數位光束處理3D列印技術及離子凝膠製作具自癒性與感知功能之軟式機器人
Soft robotics with self-healing and sensing capability achieved by digital light processing and ionogels
指導教授： 游聲盛
Yu, Sheng-Sheng
學位類別： 碩士
Master
系所名稱： 工學院 - 化學工程學系
Department of Chemical Engineering
論文出版年： 2023
畢業學年度： 111
語文別： 英文
論文頁數： 73
中文關鍵詞： 軟式機器人 、3D列印 、數位光束處理 、離子凝膠 、深共熔溶劑 、自修復行為 、電容式壓力感測器
外文關鍵詞： soft robot, 3D printing, digital light processing, ionogel, deep eutectic solvent, self-healing behavior, capacitive sensor
相關次數： 點閱：41  下載：5 
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    • 近年來，由於3D列印技術的快速發展，我們能夠以簡單且迅速的方式製造複雜結構。這項技術的出現使得複雜結構的軟式機器人能夠整合成一體，促使軟式機器人領域的研究更加深入。軟式機器人以其柔軟和可變形的特性為特點，具有廣泛的應用潛力。然而，設計複雜且功能性的軟式機器人系統仍然具有挑戰性。
    本研究介紹了一種新的方法，使用數位光處理3D列印技術來製造複雜的流體彈性致動器結構，用於軟式機器人。該方法基於一種深共熔溶劑系統開發可列印樹脂，其中包括氫鍵受體氯化膽鹼，以及氫鍵供體甘油和丙烯醯胺。通過調整氯化膽鹼、甘油和丙烯醯胺的比例，可以調節樹脂的性能以滿足軟式機器人的需求。
    除了製造複雜結構外，本研究還探討了由基於深共熔溶劑系統製作的可列印樹脂的自修復行為和感知能力。在較高溫度下，弱化的氫鍵作用力使聚合物鏈能夠穿過離子凝膠結構，實現了樹脂和3D列印的軟式機器人的自修復行為。此外，導電性離子凝膠的整合使得軟式機器人能夠擁有電容式壓力感測器，提高其對外部環境的感知能力。
    本研究的發現對於軟式機器人材料的發展以及整個機器人領域具有重要意義。通過利用基於深共熔溶劑製作而成的可列印樹脂的優勢，研究人員和工程師們能夠克服在設計複雜軟式機器人系統時所面臨的挑戰，實現具有自修復行為和增強感知能力的仿生機器人的開發。這為在各個領域中創造具適應性和反應靈敏的機器人，實現各種任務帶來了令人興奮的可能性。

    Soft robotics, inspired by nature's flexible and adaptable organisms, seeks to replicate the remarkable abilities of living creatures to move, perceive their surroundings, and respond to stimuli using soft and flexible structures. Over the past few years, researchers and scientists have made significant strides in soft robotics, driven by the goal of creating bionic robots.
    This study introduces a novel approach to fabricating complex fluidic elastomer actuator (FEA) structures for soft robots using digital light processing (DLP) 3D printing. A printable ionogel based on a deep eutectic solvent (DES) system, consisting of choline chloride (ChCl) as a hydrogen bond acceptor, and glycerol (Gly) and acrylamide (AAm) as hydrogen bond donors, is employed. By adjusting the ratios of ChCl, Gly, and AAm, the ionogel’s properties can be tailored to meet the specific requirements of soft robots.
    In addition to achieving intricate structures, this study delves into the self-healing behavior of the DES-based printable ionogel and explores the integration of capacitive pressure sensors for enhanced sensing capabilities. The ionogel’s self-healing properties, derived from weakened hydrogen bonding forces at higher temperatures, enable polymer chains to navigate through the ionogel matrix, resulting in resilient, soft robot structures. Furthermore, the incorporation of conductive ionogels enables the integration of capacitive pressure sensors, facilitating the soft robot’s ability to sense and interact with its environment.
    The findings of this research contribute to the advancement of soft robot materials and bionic robotics as a whole. By leveraging the capabilities of the DES-based printable ionogel, researchers, and engineers can overcome challenges in designing intricate soft robot systems, enabling the development of bionic robots that exhibit self-healing behavior and enhanced sensing capabilities. This strategy opens up exciting possibilities for creating adaptive and responsive robots that can achieve various tasks.

    摘要 i Abstract ii Acknowledgment iv Table of contents v List of figures viii Chapter1. Introduction 1 1.1 Introduction of soft robots 1 1.1.1 Concept of soft robots 1 1.1.2 The design and actuation of fluidic elastomer actuators (FEAs) 2 1.1.3 Application of soft robots 4 1.1.4 Future directions of soft robots 5 1.2 3D printing technology for Soft robot 6 1.2.1 Fused deposition modeling (FDM) 7 1.2.2 Direct ink writing (DIW) 9 1.2.3 Stereolithography (SLA) 11 1.2.4 Digital light processing (DLP) 12 1.3 Functional materials for soft robot 15 1.3.1 Deep eutectic solvents based resin 15 1.3.2 Photo polymerization of DES-based resin 16 1.4 Flexible pressure sensor 18 1.4.1 Piezoelectric type sensor 19 1.4.2 Piezoresistive type sensor 20 1.4.3 Capacitive type sensor 20 1.5 Recent advances in functional soft robots 23 1.6 3D printing for soft robots that demonstrate self-healing and sensing capability 29 Chapter2. Materials and Methods 31 2.1 Materials 31 2.2 Preparation of the photoprintable DES resins 31 2.3 Mechanical properties 32 2.3.1 Specimen preparation 32 2.3.2 Tensile strength 32 2.3.3 Cyclic tensile test 33 2.3.4 The degree of self-healing behavior 33 2.4 Microscope observation of self-healing behavior 34 2.5 Dynamic mechanical analysis (DMA) 35 2.5.1 Specimen preparation 35 2.5.2 The parameter of DMA 35 2.6 Fourier-transform infrared spectroscopy (FTIR) 36 2.7 Nuclear Magnetic Resonance Spectroscopy (NMR) 36 2.8 Electrical test 37 2.9 3D printing process of soft robot 38 2.10 Assembly of the sensor 39 Chapter3. Results and discussion 40 3.1 The stability of DES 40 3.2 The conversion of DES-based resins during 3D printing 41 3.3 The mechanical properties of DES-based ionogels 48 3.4 The recovery properties of DES-based ionogels 54 3.5 The self-healing behavior of DES-based ionogels 56 3.6 The resolution of ionogels by DLP 3D printing 59 3.7 The soft robotics 61 3.7.1 The soft robot with self-healing behavior 62 3.7.2 Electrochemical impedance spectroscopy (EIS) analysis 64 3.7.3 The soft robot with a capacitive pressure sensor 65 Chapter4. Conclusion 67 Reference 68

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