【作者】 李祥；

【导师】 刘磊；

【作者基本信息】 东南大学 ， 机械工程， 2025， 博士

【摘要】 软体致动器凭借独特的柔性和高度的适应性在智能软体机器人研究领域显示出广泛的应用前景。MXene（two-dimensional,2D Ti₃C₂T_x）因其卓越的光热转换效率、优异的导电性能以及良好的亲水特性,已成为软体致动器领域的热门候选材料之一。针对MXene基软体致动器存在致动变形性能不佳和多模态变形能力不足等问题,本文优化了其在不同变形模式下的设计策略,构筑了从单一驱动到多模态驱动的系列MXene基软体致动器,集成了高适应性的软体管道机器人,主要工作如下:（1）探究并明确了MXene基软体致动器设计的关键因素,优化了不同变形模式下的设计策略。本文对比了具有不同几何特性（片状、管状和棒状结构）、响应方式（光场、电场、湿度和磁场）以及致动变形模式（收缩、弯曲、多自由度变形和自振荡）的MXene基软体致动器的设计方法;提出了致动器刚柔耦合综合设计和致动变形载体创新等多种优化策略,为后续章节的具体研究提供设计基础。（2）通过均匀盐化改性有效提高了液晶弹性体（LCE）-MXene（LM）致动器的收缩性能,使其在高负载比条件下获得大的致动应变和比功密度。针对MXene与LCE之间界面相容性差的问题,通过均匀盐化改性法和两步交联策略设计制造了具有高收缩致动的LM致动器;由于MXene均匀分散于LCE,LM显示出45.55%的致动应变、1040倍的收缩驱动负载比和210 J/kg的比功密度,且该值是哺乳动物肌肉（40 J/kg）的5.25倍;进一步利用致动器温和可控的驱动力和高收缩驱动负载特性,设计了近红外光（Near-infrared light,NIR）微针控制系统,实现了微针的可控插入。（3）利用刚柔耦合策略设计了光-电响应MXene基多自由度变形管状致动器,实现了多种运动模式的精准控制和运动负载的能力突破。针对LM存在多自由度变形无法精准控制和恢复时无法驱动负载的问题,通过LM-弹簧刚柔耦合设计制造了管状LCE-MXene-Spring（LMS）致动器;在LM收缩性和弹簧恢复性的同步作用下,LMS可实现多向弯曲、收缩和伸长的多模式运动及出色的驱动负载比（75倍的自重）;进一步利用LMS的多向弯曲特性,设计了仿生自适应向光跟踪器,在三维空间内可实现光源的精准感知与追踪。（4）通过将磁性颗粒引入LMS体系设计了新型光-电-磁复合响应致动器,有效拓展了磁响应特性并提升了光响应特性。针对LMS存在多刺激响应能力不足的问题,通过将CoFe₂O₄引入到LMS设计制造了具有多刺激响应LCE-MXene-CoFe₂O₄-Spring（LMCS）管状致动器;由于CoFe₂O₄的磁性和附加的光热转换能力,LMCS致动器可实现对光-电-磁的多刺激响应和更大的弯曲角度（从48.0°增大到53.2°）;利用LMCS的磁响应特性和管状结构设计,实现了致动器在磁力牵引下的定向运动。（5）利用多自由度变形管状致动器,面向毫米级管道应用需求设计了高适应性软体机器人。针对机器人对小尺寸和低转弯半径管道适应性不足的问题,基于管状致动器设计了高适应软体机器人,在毫米级尺度上可实现不同管道结构（水平、垂直、弯曲、变径和螺旋）、不同管道环境（表面布满水或油）和不同管道材质（聚四氟乙烯、不锈钢或玻璃）条件下的定向运动;在光-电协同控制下,机器人的伸长单元在通过弯道时发生不对称的伸缩变形,使其能够稳定地通过具有超低弯曲半径（19 mm）的L型管道。更多还原

【Abstract】 Soft actuators have shown a wide range of applications in the field of intelligent soft robotics due to their unique flexibility and high adaptability.MXene（two-dimensional,2D Ti₃C₂T_x）has emerged as a prominent contender in the field of soft actuators,owing to its exceptional photothermal conversion capability,superior electrical conductivity,and strong hydrophilic properties.To address the issues of suboptimal actuation deformation performance and insufficient multimodal deformation capability in MXene-based soft actuators,this paper optimizes the design strategies for these actuators under different deformation modes.A series of MXene-based soft actuators ranging from single-driven to multimodal-driven configurations are constructed,and a highly adaptive soft pipeline robot is integrated.The main work is as follows:（1）The key factors in the design of MXene-based soft actuators are explored and clarified,and the design strategies for different deformation modes are optimized.This paper compares the design methods of MXene-based soft actuators with different geometric characteristics（sheet,tubular,and rod structures）,response modes（light field,electric field,humidity,and magnetic field）,and actuation deformation modes（contraction,bending,multi-degree-of-freedom deformation,and self-oscillation）.It also proposes various optimization strategies,such as the comprehensive rigid-flexible coupling design of actuators and innovations in actuation deformation carriers.These strategies provide a design foundation for the specific research in subsequent chapters.（2）The contraction properties of liquid crystal elastomer（LCE）-MXene（LM）actuators are effectively enhanced by homogeneous salting modification,resulting in large actuation strain and specific work density under high load ratio conditions.In order to address the poor interfacial compatibility between MXene and LCE,an LM actuator with high contraction actuation is designed and fabricated by the homogeneous salinization modification method and a two-step cross-linking strategy.Due to the homogeneous dispersion of MXene in LCE,the LM exhibits an actuation strain of 45.55%.Its contraction-driven load ratio is 1,040times,and a specific work density is 210 J/kg.This value is 5.25 times that of mammalian muscle（40 J/kg）.The mild and controllable driving force of the actuator and the high contraction-driven loading characteristics are further utilized to design a near-infrared light（NIR）microneedle control system,which realizes the controlled insertion of microneedles.（3）A light-electricity responsive MXene-based tubular actuator with multi-degree-of-freedom deformation is designed through a rigid-flexible coupling strategy,enabling precise multimodal motion control while achieving breakthroughs in the capability of moving loads.In addressing the challenges posed by the LM,particularly the inability to precisely control multi-degree-of-freedom deformation and the inability to drive load during recovery,a tubular LCE-MXene-Spring（LMS）actuator is developed through rigid-flexible coupling design of LM and springs.Under the synchronous action of LM contraction and spring resilience,LMS enables multi-mode motions including multi-directional bending,contraction,and elongation,along with an excellent driving load ratio（75 times its own weight）.Additionally,the multidirectional bending property of the LMS facilitates the design of a bionic adaptive light tracker capable of precise sensing and tracking of light sources in three-dimensional space.（4）A novel light-electricity-magnetic composite responsive actuator is designed by introducing magnetic particles into the LMS system,which effectively expands the magnetic response characteristics and enhances the light response characteristics.To address the issue of insufficient multi-stimulus response capability in LMS actuators,a tubular LCE-MXene-CoFe₂O₄-Spring（LMCS）actuator with multi-stimulus responsiveness is designed and fabricated by introducing CoFe₂O₄into the LMS system.Due to the magnetic properties of CoFe₂O₄and its additional photothermal conversion capability,the LMCS actuator can achieve multi-stimulus responses to light,electricity,and magnetism,along with a larger bending angle（increased from 48.0°to 53.2°）.Furthermore,the combined magnetic responsiveness of LMCS and its optimized tubular configuration enables precisely controlled directional locomotion under magnetic traction.（5）A highly adaptive soft robot is designed for millimeter-scale pipeline application requirements by using a multi-degree-of-freedom deformable tubular actuator.In order to address the issue of robots’insufficient adaptability to small-diameter pipes and those with low turning radii,a highly adaptive soft robot is designed based on tubular actuators.At the millimeter scale pipeline,it can achieve directional movement under conditions of different pipeline structures（horizontal,vertical,curved,variable-diameter,and spiral）,different pipeline environments（surfaces covered with water or oil）,and different pipeline materials（polytetrafluoroethylene,stainless steel,and glass）.Under synergistic light-electrical control,the robot’s elongation unit undergoes asymmetric deformation when passing through bends,enabling it to pass through L-shaped pipes with ultra-low bending radii（19?mm）.更多还原