Stage deformation execution device based on 4D printing

Abstract

The invention belongs to the field of a deformation execution device and particularly discloses a stage deformation execution device based on 4D printing. The device comprises a deformation executionbody and a controller, wherein the deformation execution body comprises an insulation layer and a plurality of conductive circuits, the insulating layer wraps a plurality of conductive circuits, the insulating layer and a plurality of conductive circuits are integrally formed through 4D printing, resistances of a plurality of conductive circuits are different, the controller is connected with theconductive circuits at head and tail ends, the power is supplied to a plurality of conductive circuits according to the execution information, a plurality of conductive lines are arranged on the insulating layer so that the insulating layer generates different heating efficiencies at a plurality of conductive lines, heating efficiencies of the different conductive lines are different, so the deformation speeds and sequences of the different conductive lines are different, and the stage deformation execution device deforms according to a predetermined deformation sequence and a predetermined deformation route under programmable control electric heating. The device has advantages of staged deformation, delayed deformation, intelligence, programmability, high adaptability and the like.

Description

technical field [0001] The invention belongs to the field of deformation execution devices, and more particularly relates to a stage deformation execution device based on 4D printing. Background technique [0002] The next era will be the era of robots. Humanoid robots, or robots whose functions closely resemble living organisms, are a major research target for next-generation robotics. Future robots will be integrated with sensing, execution, energy storage, and support instead of being built separately. Generally speaking, every part of a future robot will be integrally formed, and there will be no separately assembled screws, wires, support structures, and execution motors. Wait. Therefore, programmable and controllable deformation actuators and their integrated forming are the main research directions in the future. [0003] In the existing technology, there is still a lack of deformation actuators prepared by 4D printing. At the same time, in the prior art, the stage...

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Problems solved by technology

[0003] In the existing technology, there is still a lack of deformation actuators prepared by 4D printing. At the same time, in the prior art, the stage deformation actuators are often realized through machine intervention or manual intervention, which is not only time-consuming and laborious, but also has low precision. The method is complicated and adaptable. Low sex

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