TY - CHAP
T1 - Towards the first developments of Self-Healing Robotics, through the introduction of thermo-reversible Diels-Alder polymer networks in compliant actuators.
AU - Terryn, Seppe
AU - Vanderborght, Bram
AU - Mathijssen, Glenn
AU - Lefeber, Dirk
AU - Guy Van, Assche
AU - Brancart, Joost
PY - 2015/6/22
Y1 - 2015/6/22
N2 - This multidisciplinary research presents, for the first time, the innovative concept of implementing self-healing (SH) polymers in Soft Robotics, more specific in compliant actuators. The introduction of these materials will potentially reduce the over-dimensioning of current robotic systems, leading to lighter systems and eventually to more efficient designs. Compliant elements used in next generation soft robots can be constructed out of available SH-polymers,making them able to autonomously heal cuts and perforations caused by sharp objects in unstructured environments. In addition, the use of SH-materials will have a beneficial impact on the life span of robotic components, reducing the required maintenance drastically. Through prototyping, a feasibility study was conducted, in which two entirely different compliant actuator types; a series elastic actuator (SEA) and a soft pneumatic actuator (SPA) were investigated, focusing on the implementationof a SH-mechanism. The SH-mechanism of both actuator types relies on dynamic covalent polymer network systems based on the reversible Diels-Alder (DA) reaction. Macroscopic damages in these non-autonomous DA-polymers can be healed in a couple of hours using relatively low temperatures (70-130 °C). Firstly, a self-healing mechanical fuse (SH-MF) was developed, which can be inserted in an SEA. Whenever a damaging overload, potentially damaging one of the actuator components, occurs on the system, the fuse fractures sacrificially and can be self-healed afterwards. Using this principle, all components are protected and there is no need for large over-dimensioning. Secondly, to evaluate the potential of creating an SPA entirely out of SH-‐polymer material, a single soft pneumatic cell was built entirely out of the DA-polymers. From this single-cell prototype it is straight-forward to build the first SH-multi-cell SPA, one that can self-heal damages caused by sharp objects. For both prototypes, the mechanical properties of the actuator were recovered after the complete healing of macroscopic damages.
AB - This multidisciplinary research presents, for the first time, the innovative concept of implementing self-healing (SH) polymers in Soft Robotics, more specific in compliant actuators. The introduction of these materials will potentially reduce the over-dimensioning of current robotic systems, leading to lighter systems and eventually to more efficient designs. Compliant elements used in next generation soft robots can be constructed out of available SH-polymers,making them able to autonomously heal cuts and perforations caused by sharp objects in unstructured environments. In addition, the use of SH-materials will have a beneficial impact on the life span of robotic components, reducing the required maintenance drastically. Through prototyping, a feasibility study was conducted, in which two entirely different compliant actuator types; a series elastic actuator (SEA) and a soft pneumatic actuator (SPA) were investigated, focusing on the implementationof a SH-mechanism. The SH-mechanism of both actuator types relies on dynamic covalent polymer network systems based on the reversible Diels-Alder (DA) reaction. Macroscopic damages in these non-autonomous DA-polymers can be healed in a couple of hours using relatively low temperatures (70-130 °C). Firstly, a self-healing mechanical fuse (SH-MF) was developed, which can be inserted in an SEA. Whenever a damaging overload, potentially damaging one of the actuator components, occurs on the system, the fuse fractures sacrificially and can be self-healed afterwards. Using this principle, all components are protected and there is no need for large over-dimensioning. Secondly, to evaluate the potential of creating an SPA entirely out of SH-‐polymer material, a single soft pneumatic cell was built entirely out of the DA-polymers. From this single-cell prototype it is straight-forward to build the first SH-multi-cell SPA, one that can self-heal damages caused by sharp objects. For both prototypes, the mechanical properties of the actuator were recovered after the complete healing of macroscopic damages.
M3 - Meeting abstract (Book)
BT - International Conference on Self-Healing Materials (ICSHM)
ER -