电活性聚合物PVC凝胶材料的3D直写打印工艺

doi:10.3901/JME.2019.11.076

机械工程学报 ›› 2019, Vol. 55 ›› Issue (11): 76-82.doi: 10.3901/JME.2019.11.076

• 特邀专栏：共融机器人 • 上一篇下一篇

扫码分享

电活性聚合物PVC凝胶材料的3D直写打印工艺

罗斌^1,2, 陈花玲^1,2, 徐雪杰^1,2, 汝杰^1,2, 朱子才²

1. 西安交通大学机械工程学院西安 710049;
2. 西安交通大学机械强度与振动国家重点实验室西安 710049

收稿日期:2018-06-29 修回日期:2018-11-23 出版日期:2019-06-05 发布日期:2019-06-05
通讯作者: 陈花玲(通信作者),女,1954年出生,博士,教授,博士研究生导师。主要研究方向为智能材料与结构控制,噪声与振动分析。E-mail:hlchen@mail.xjtu.edu.cn
作者简介:罗斌,男,1987年出生,博士研究生。主要研究方向为智能材料与结构3D打印技术,智能材料传感构筑与性能优化。E-mail:Lb19870911@126.com;徐雪杰,男,1993年出生,硕士研究生。主要研究方向为智能材料与结构的增材制造技术。E-mail:xxjzzz@stu.xjtu.edu.cn;汝杰,男,汝杰,男,1989年出生,博士研究生。主要研究方向为智能材料的性能优化与仿生应用。E-mail:rujie1989@126.com;朱子才,男,1984年生,博士,副教授,硕士研究生导师。主要研究方向为智能材料的驱动/传感一体化。E-mail:zicaizhu@xjtu.edu.cn
基金资助:
国家自然科学基金资助项目（91648110）。

Printing Electroactive Polymer Polyvinyl Chloride (PVC) Gel via Direct Writing

LUO Bin^1,2, CHEN Hualing^1,2, XU Xuejie^1,2, RU Jie^1,2, ZHU Zicai²

1. School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an 710049;
2. State Key Laboratory of Mechanical Structural Strength and Vibration, Xi'an Jiaotong University, Xi'an 710049

Received:2018-06-29 Revised:2018-11-23 Online:2019-06-05 Published:2019-06-05

摘要/Abstract

摘要： 鉴于电活性聚合材料PVC凝胶具有驱动电压低、且具有弯曲和拉压变形的双重能力，有望满足软体机器人个性化与结构复杂设计需求，将直写打印技术与材料的成型制备方法结合起来，研究了PVC凝胶的打印工艺。首先，配置了不同浓度的打印墨水，测试了不同浓度打印墨水的流变性能用以表征其可打印性，结果表明配置的PVC凝胶打印墨水整体表现为剪切变稀性质，具有较强的可打印性，其中质量比为聚氯乙烯（PVC）：己二酸丁二酯（DBA）：四氢呋喃（THF）=1：4：12.5的溶液用于打印具有固化速度快，易于挤出的特点。然后，通过单点成线试验，发现打印参数为：挤出流量为0.02 mL/min，扫描速度为36 mm/s时，成线精度可以达到0.15 mm。在此基础上，进行三维叠加打印试验，实现了波纹状、网状、鱼鳞状PVC凝胶结构的3D打印。采用3层鱼鳞状PVC凝胶结构做成叠层，给该结构施加700 V方波电压时，其上下振动位移达到0.21 mm；施加900 V方波电压时，其驱动力为1.18 N，为自身重量的21倍。试验结果表明：直写打印制备出来的PVC凝胶材料驱动性能良好，表明打印工艺的可行性。

关键词: PVC凝胶, 打印墨水, 电活性聚合材料, 驱动性能, 直写打印

Abstract: Electroactive polymer polyvinyl chloride (PVC) gel can be applied to soft robots with the complex and individualized structures and it has the dual ability of bending and drawing deformation under low voltage. The printing process of PVC gel is explored by combining the direct writing technology with the preparation method of the material. The printing inks with different concentrations are arranged and the rheological and printability properties of the inks are measured. The PVC printing inks are characterized by shear thinning property. A ink with a mass ratio of PVC:DBA:Thf=1:4:12.5 is used for printing with fast curing speed and easy to be extruded. Through a single line test, the parameters of the printer are as follows:when the extrusion flow rate is 0.02 mL/min and the scanning speed is 36 mm/s, the single point line precision could reach 0.15 mm. Corrugated and fish scale PVC gel structures have been realized by this technology. Fish scale PVC gel structure is used to make into a stack structure. The 700 V square wave voltage is applied to the structure, the upper and lower vibration displacement reached 0.21 mm, and the driving force is 1.18 N under 900 V square wave voltage, which is 21 times of its own weight. The experimental results show that the PVC gel material prepared by the printing process has a good driving performance and the printing process is feasible.

Key words: direct writing technology, driving performance, electroactive polymer materials, polyvinyl chloride ge1, printing inks

中图分类号:

TP24
TP331

罗斌, 陈花玲, 徐雪杰, 汝杰, 朱子才. 电活性聚合物PVC凝胶材料的3D直写打印工艺[J]. 机械工程学报, 2019, 55(11): 76-82.

LUO Bin, CHEN Hualing, XU Xuejie, RU Jie, ZHU Zicai. Printing Electroactive Polymer Polyvinyl Chloride (PVC) Gel via Direct Writing[J]. Journal of Mechanical Engineering, 2019, 55(11): 76-82.

参考文献

[1] 王国彪,陈殿生,陈科位,等. 仿生机器人研究现状与发展趋势[J]. 机械工程学报,2016,51(13):27-44. WANG Guobiao,CHEN Diansheng,CHEN Kewei,et al. The current research status and development strategy on biomimetic robot[J]. Journal of Mechanical Engineering,2016,51(13):27-44.
[2] PARK S J,GAZZOLA M,PARK K S,et al. Phototactic guidance of a tissue-engineered soft-robotic ray[J]. Science,2016,353(6295):158-162.
[3] CHU W S,LEE K T,SONG S H,et al. Review of biomimetic underwater robots using smart actuators[J]. International Journal of Precision Engineering and Manufacturing,2012,13(7):1281-1292.
[4] 罗斌,夏华翅, 陈花玲,等. 离子凝胶材料的三维打印工艺[J]. 机械工程学报,2018,54(17):147-164. LUO Bin,XIA Huachi,CHEN Hualing,et al. Research on 3D printing process of ionic gel[J]. Journal of Mechanical Engineering,2018,54(17):157-164.
[5] 郭闯强,吴春亚,刘宏. 离子聚合物金属复合材料驱动器在机器人中的应用进展[J]. 机械工程学报,2017,53(9):1-13 GUO Chuangqiang,WU Chunya,LIU Hong. Application progress of ionic polymer-metal composites actuator in robots[J]. Journal of Mechanical Engineering,2017,53(9):1-13.
[6] MUST I,KAASIK F,PÕLDSALU I,et al. Ionic and capacitive artificial muscle for biomimetic soft robotics[J]. Advanced Engineering Materials,2015,17(1):84-94
[7] 谢光辉,金敉娜,王光建. PVC凝胶人工肌肉驱动器设计与控制[J]. 中国机械工程,2014,25(14):1888-1892. XIE Guanhui,JIN Mina,WANG Guanjian. Design and control of artificial muscle actuator based on PVC Gel[J]. China Mechanical Engineering,2014,25(14):1888-1892.
[8] FURUSE A,HASHIMOTO M. Development of novel textile and yarn actuators using plasticized PVC gel[C]//Proceedings of SPIE-The International Society for Optical Engineering,April 17,2017,Portland. USA:SPIE,2017,10163,1016327.
[9] LI Y,HASHIMOTO M. PVC gel based artificial muscles:Characterizations and actuation modular constructions[J]. Sensor and Actuators A:Physical,2015,233:246-258.
[10] OGAWA N,HASHIMOTO M. Characteristics evaluation of PVC gel actuators[C]//The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems,October 11-15,2009,St. Louis:IEEE,2009:2898-2903.
[11] HONG X,HASHIMOTO M,HIRAI T. Actuation mechanism of plasticized PVC by electric field[J]. Sensor and Actuators A:Physical,2010,157:307-312.
[12] LI Y,HASHIMOTO M. Design and prototyping of a novel lightweight walking assist wear using PVC gel soft actuators[J]. Sensor and Actuators A:Physical,2016,239:26-44.
[13] PARK W H,BAE J W,SHIN E J,et al. Development of a flexible and bendable vibrotactile actuator based on wave-shaped poly(vinyl chloride)/acetyl tributyl citrate gels for wearable electronic devices[J]. Smart Materials and Structure,2016,25(11):115020.
[14] CHOI D S,JEONG J,SHIN E J,et al. Focus-tunable double convex lens based on non-ionic electroactive gel[J]. Optical Express,2017,25(17):20133-20144.
[15] KIM S Y,YEO M,SHIN E J,et al. Fabrication and evaluation of variable focus and large deformation plano-convex microlens based on non-ionic poly(vinyl chloride)/dibutyl adipate gels[J]. Smart Materials and Structure,2015,14(11):115006.
[16] BAE J W,YEO M,SHIN E J,et al. Eco-friendly plasticized poly(vinyl chloride)-acetyl tributyl citrate gels for varifocal lens[J]. RSC Advance,2015,5(115):94919-94925.
[17] BAE J W,SHIN E J,JEONG J,et al. High-performance PVC Gel for adaptive micro-lenses with variable focal length[J]. Scientific Report,2017,7(1):2068.
[18] HIRAI T,OGIWARA T,FUJⅡ K,et al. Electrically active artificial pupil showing amoeba-like pseudopodial deformation[J]. Advance Materials,2009,21(28):2886-2888.
[19] ZHANG X,LI Y X,HANKETT J M,et al. The molecular interfacial structure and plasticizer migration behavior of green plasticized poly (vinyl chloride)[J]. Physical Chemistry Chemical Physics,2015,17(6):4472-4482.
[20] ALI M,HIRAI T. Effect of plasticizer on the electric-field-induced adhesion of dielectric PVC gels[J]. Journal of Materials Science,2012,47(8):3777-3783.
[21] ALI M,UEKI T,TSURUMI D,et al. Influence of plasticizer content on the transition of electromechanical behavior of PVC gel actuator[J]. Langmuir,2011,27(12):7902-7908.
[22] ZHU F B,CHEN L B,YIN J,et al. 3D printing of ultratough polyion complex hydrogels[J]. ACS Applied Materials & Interfaces,2016,8:31304-31310.
[23] LEWIS J A. Direct ink writing of 3D functional materials[J]. Advanced Functional Materials,2006,16(17):2193-2104.

电活性聚合物PVC凝胶材料的3D直写打印工艺

Printing Electroactive Polymer Polyvinyl Chloride (PVC) Gel via Direct Writing

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 6

编辑推荐

Metrics

本文评价

[1]	汤桂平, 刘庆萍, 宋波, 史玉升. 4D打印液晶弹性体工艺及其性能研究[J]. 机械工程学报, 2021, 57(7): 234-243.
[2]	林坷升, 刘洁, 刘方政, 康红磊, 李锋, 史玉升. 油墨直写打印纳米羟基磷灰石/聚乳酸复合材料：制备及性能研究[J]. 机械工程学报, 2020, 56(9): 234-242.
[3]	徐雪杰, 朱子才, 罗斌, 何青松. CNT/PDMS柔性传感材料的打印工艺及性能研究[J]. 机械工程学报, 2020, 56(15): 97-103.
[4]	罗斌, 夏华翅, 陈花玲, 朱子才, 何西铭, 李涤尘. 离子凝胶材料的三维打印工艺[J]. 机械工程学报, 2018, 54(17): 157-164.
[5]	张永顺, 迟明路, 程存欣, 张雨. 一种高性能花瓣廓形胶囊机器人^*[J]. 机械工程学报, 2017, 53(3): 9-16.
[6]	汪永明, 孙应秋, 鲍传辉. 月球车足部构型参数对其驱动性能的影响研究[J]. 机械工程学报, 2015, 51(3): 37-44.