Multi-mode bionic peristaltic origami artificial muscle device circulating freeze-thaw forming process

Abstract

The invention discloses a multi-mode bionic peristaltic origami artificial muscle device circulating freeze-thaw forming process which comprises the following steps: blending 40 mL of a polyacrylamide solution with the concentration of 10-15 g / L, 0.1-0.3 g of glucose, 40-60 mL of a nanocellulose suspension and 8-12 mL of ethanol according to an optimized ratio; an electrical response execution layer with a uniform porous structure and excellent plasticity and mechanical properties is prepared by adopting a 4-6-cycle freezing and thawing process, and 70-90 mL of polyacrylamide with the concentration of 15-25 g / L and 15-25 mL of multi-walled carbon nanotube aqueous slurry are mixed to prepare an electrode layer with high conductivity. Through doping modification of polyacrylamide, glucose, nanocellulose and ethanol and in combination with a circulating freeze thawing process, a multi-dimensional hydrogen bond network and a uniformly through hierarchical pore structure are formed in the artificial muscle device. The plasticity, the mechanical property and the electrochemical property of the device are greatly enhanced, and the device has extreme environment adaptability and can meet the use requirements under various complex application scenes.

Description

Technical Field

[0001] This invention relates to a molding process for artificial muscle devices, and more particularly to a cyclic freeze-thaw molding process for multimodal biomimetic peristaltic origami artificial muscle devices. Background Technology

[0002] With the continuous advancement of technology, biomimetic drive technology is gradually evolving from traditional rigid structures to flexible, biomimetic drives to meet increasingly complex environmental demands and diverse application scenarios. Traditional rigid drive systems mainly rely on mechanical transmission components such as motors, gears, and linkages to achieve motion. While they excel in high precision and high load capacity, they have significant limitations in environmental adaptability, service life, and energy efficiency. For example, rigid-driven robots often struggle to cope flexibly with complex terrain or scenarios requiring close interaction with humans, and due to their complex structure, they are prone to mechanical fatigue and wear after prolonged operation.

[0003] In contrast, artificial muscle devices using flexible actuation technology have attracted widespread attention due to their lightweight and high energy efficiency. However, existing flexible actuation technologies still face several key challenges. On one hand, deficiencies in material forming and structural optimization techniques limit the performance improvement of artificial muscle devices, making it difficult to meet the application requirements of various scenarios in terms of mechanical properties and plastic deformation capabilities. On the other hand, although existing research has attempted to improve the performance of artificial muscle devices through different materials and processes, adaptability to extreme environments remains an unresolved challenge, which significantly restricts their widespread application in specialized fields such as medicine, aerospace, and deep-sea exploration.

[0004] Furthermore, traditional drying processes have inherent drawbacks in the fabrication of artificial muscle devices. For example, conventional drying processes often lead to material embrittlement, while freeze-dried products are typically porous and require complex subsequent strengthening treatments to meet usage requirements. Simultaneously, traditional drying processes often consume significant amounts of energy and may necessitate the use of chemical additives to prevent material collapse, which not only increases production costs but may also cause environmental pollution.

[0005] For practical applications, artificial muscle devices need to possess multimodal coordinated motion capabilities and precise controllability. Although origami structures have been used in artificial muscle design, current technologies mainly achieve single or simple compound movements, which are insufficient to meet the requirements of complex and precise coordinated actuation. Furthermore, under the application constraints of maintaining low-energy actuation and high-speed response, further improving the overall mechanical performance of the device is a severe challenge currently facing the technology.

[0006] In summary, existing technologies still have many shortcomings in terms of performance optimization, process improvement, and multimodal motion control of artificial muscle devices. There is an urgent need for an innovative molding process that can effectively solve the above problems in order to promote the wider application of biomimetic drive technology in various fields. Summary of the Invention

[0007] To address the shortcomings of existing technologies, this invention provides a cyclic freeze-thaw molding process for multimodal biomimetic peristaltic origami artificial muscle devices, which solves the problems mentioned in the background art.

[0008] To achieve the above objectives, the present invention provides the following technical solution: a multimodal biomimetic peristaltic origami artificial muscle device cyclic freeze-thaw molding process, wherein the process is used to manufacture a multimodal biomimetic peristaltic origami artificial muscle device, and the process includes the following steps:

[0009] An electroresponsive actuation layer with a uniform porous structure, excellent plasticity and mechanical properties was prepared by mixing 40 mL of a 10-15 g / L polyacrylamide solution with 0.1-0.3 g glucose, 40-60 mL of nanocellulose suspension and 8-12 mL of ethanol in an optimized ratio and using a 4-6 cycle freeze-thaw process.

[0010] A highly conductive electrode layer is prepared by mixing 70-90 mL of a polyacrylamide solution with a concentration of 15-25 g / L and 15-25 mL of a multi-walled carbon nanotube aqueous slurry and drying the mixture.

[0011] Using the above technical solution, the prepared electroresponsive actuation layer and electrode layer are directly bonded in a specific area. Subsequently, a polyurethane bio-adhesive is used to fix the octopus suction cup structure to the non-working area surface of the actuation layer. Finally, an embedded flexible electrode connects the suction cup to the control circuit of the actuation layer, enabling independent or coordinated electro-drive control, thus completing the overall assembly of the multimodal biomimetic peristaltic origami artificial muscle device.

[0012] Preferably, the concentration of the polyacrylamide solution is 12.5-14.5 g / L, the amount of glucose is 0.2-0.4 g, the amount of nanocellulose suspension is 50-60 mL, the amount of ethanol is 10-20 mL, the number of freeze-thaw cycles is 5-6, the freezing temperature is -20℃, the freezing time is 10-14 h, and the thawing time is 5-7 h.

[0013] By using the above technical solutions and controlling the number and conditions of the cyclic freeze-thaw process, the internal structure of the material can be optimized and its overall performance improved.

[0014] Preferably, the volume ratio of the polyacrylamide solution to the multi-walled carbon nanotube aqueous slurry is 4:1-4.5:1.

[0015] The above technical solutions ensure that the prepared electrode layer has high conductivity and good mechanical properties, thereby optimizing the overall performance of the biomimetic peristaltic origami artificial muscle device.

[0016] Preferably, the fabrication steps of the electrical response execution layer include:

[0017] Dissolve polyacrylamide powder in deionized water and stir until completely dissolved;

[0018] Glucose powder was added to a nanocellulose suspension and stirred to dissolve, thus preparing a glycosyl solution.

[0019] Mix the sugar-based solution with the polyacrylamide solution and stir at a constant temperature for 15-25 minutes.

[0020] Add ethanol solution and continue stirring until homogeneous;

[0021] The mixed solution was placed in a 3D-printed petri dish and then placed in a low-temperature freezer for freeze-thaw cycles.

[0022] The above technical solution involves dissolving polyacrylamide powder in deionized water and glucose powder in a nanocellulose suspension to prepare a glycosyl solution. The glycosyl solution is then mixed with the polyacrylamide solution and an ethanol solution is added. Finally, a freeze-thaw cycle is performed. The purpose of this process is to form an electroresponsive actuation layer with a uniform porous structure, excellent plasticity, and mechanical properties, providing a basic structural and performance guarantee for biomimetic peristaltic origami artificial muscle devices.

[0023] Preferably, the stirring temperature is 55-65℃.

[0024] The purpose of the above technical solution is to ensure that the polyacrylamide powder can be fully dissolved in deionized water, and at the same time, to ensure that the sugar-based solution and the polyacrylamide solution can be uniformly dispersed after mixing, so as to ensure the uniformity and performance consistency of the material during the subsequent formation of the electro-responsive execution layer.

[0025] Preferably, the electrode layer fabrication steps include:

[0026] Dissolve polyacrylamide powder in deionized water and stir until completely dissolved;

[0027] Add multi-walled carbon nanotube aqueous slurry and continue stirring until evenly mixed;

[0028] The electrode solution was poured into a 3D-printed culture dish and placed in a vacuum drying oven for drying.

[0029] The above technical solution forms an electrode layer with high conductivity and good mechanical properties, thereby ensuring the electrical performance and structural stability of the biomimetic peristaltic origami artificial muscle device.

[0030] Preferably, the stirring temperature is 55-65℃, and the drying temperature is 65-75℃.

[0031] The drying time is 18-22 hours, and the vacuum degree is -0.8-0.9 MPa.

[0032] The above technical solution ensures that polyacrylamide powder and multi-walled carbon nanotube aqueous slurry are fully mixed and dissolved, and a uniform and dense electrode layer structure is formed during the drying process, so as to ensure the high conductivity and good mechanical properties of the electrode layer.

[0033] Preferably, the assembly steps of the artificial muscle device include:

[0034] Two electrode layers, fabricated using 3D printing, were laminated onto both sides of an electroresponsive actuation layer whose surface was uniformly coated with an actuation fluid, completing the assembly of the core actuation unit of the biomimetic artificial muscle device. Using the same assembly process, the octopus-like suction cup structure, also fabricated using 3D printing, was laminated and assembled. Subsequently, the assembled artificial muscle core actuation unit and biomimetic suction cup structure were simultaneously transferred to a vacuum drying oven for drying treatment to solidify the actuation layer and ensure a strong bond between the interfaces of each layer.

[0035] After drying, the bionic suction cup structure is fixed to a pre-designed non-working area joint on the surface of the core unit of the artificial muscle device using a polyurethane-based bio-adhesive. Finally, the bionic suction cup structure is electrically connected to the control circuit of the artificial muscle device via an embedded flexible electrode connection, thereby realizing independent or cooperative electric drive control of the bionic suction cup structure.

[0036] Through the above technical solution, the assembly steps of the artificial muscle device are to laminate and solidify the electrode layer, the electro-response execution layer, and the octopus-like suction cup structure to ensure a strong bond between the layers. The suction cup structure is fixed with a polyurethane-based bio-adhesive, and the embedded flexible electrode is used to realize electric drive control, thereby completing the assembly of a biomimetic peristaltic origami artificial muscle device with multimodal motion function and environmental adaptability.

[0037] Preferably, the drying temperature is 35-45℃, the drying time is 22-26h, and the vacuum degree is -0.8-0.9MPa.

[0038] Through the above technical solutions, the drying temperature, drying time, and vacuum level are used to ensure that the actuator layer can be fully cured and the adhesive between the components can be effectively cured during the drying process after the artificial muscle device is assembled, thereby ensuring the firmness of the interlayer bonding and the stability of the device structure.

[0039] This invention provides a cyclic freeze-thaw molding process for a multimodal biomimetic peristaltic origami artificial muscle device.

[0040] It has the following beneficial effects:

[0041] 1. This invention modifies the artificial muscle device by doping it with polyacrylamide, glucose, nanocellulose, and ethanol, and combines this with a cyclic freeze-thaw process to create a multidimensional hydrogen bond network and a uniformly interconnected hierarchical porous structure. This not only greatly enhances the device's plasticity, mechanical properties, and electrochemical characteristics, but also gives it adaptability to extreme environments, enabling it to meet the needs of various complex application scenarios.

[0042] 2. Compared to traditional drying processes, the cyclic freeze-thaw molding process of this invention exhibits significant advantages in material structure control and performance optimization. The uniform pore size distribution formed by the repeated growth and melting of ice crystals avoids the problem of uneven pore size in traditional drying processes, while simultaneously improving the local densification of the material, forming a "soft and hard alternating" structure. This process uses water as a solvent, eliminating the need for organic pore-forming agents or cross-linking agents, and features significant advantages such as high efficiency, convenience, precise control, and environmental friendliness, with strong scalability. Furthermore, the cyclic freeze-thaw process not only overcomes the difficulty of achieving sufficient growth and uniform distribution of ice crystals within the material under single freeze-thaw processes, but also provides greater operational flexibility for precise control of process parameters, further optimizing material properties.

[0043] 3. This invention constructs an artificial muscle device into an origami structure and cleverly combines it with an electric drive method to achieve folding / unfolding / curling and multimodal motion control. It has advantages such as simple structure, low energy consumption, fast response speed, and fatigue resistance. At the same time, the surface drive of the artificial muscle core unit integrates an octopus-like suction cup structure, which endows the device with the ability to adapt to different surface morphologies, controllable contact / detachment response characteristics, and stable adhesion performance in multiple environments, significantly improving the device's mechanical properties, motion accuracy, and impact resistance.

[0044] 4. The multimodal biomimetic peristaltic origami artificial muscle device manufactured by this invention has the characteristics of being green and environmentally friendly, having excellent driving performance, and high motion precision. It not only has broad application prospects in fields such as medical robots and special testing equipment, but also provides an innovative solution for the development of next-generation flexible driving technology, and is expected to promote technological progress and industrial upgrading in related fields. Attached Figure Description

[0045] Figure 1 This is a flow chart of the cyclic freeze-thaw molding process for the multimodal biomimetic peristaltic origami artificial muscle device of this invention;

[0046] Figure 2 This is a schematic diagram of the cyclic freeze-thaw molding process of the multimodal biomimetic peristaltic origami artificial muscle device of the present invention;

[0047] Figure 3 This is a schematic diagram of the core drive unit electrical execution layer structure in the cyclic freeze-thaw molding process of the multimodal biomimetic peristaltic origami artificial muscle device of the present invention;

[0048] Figure 4 This is a schematic diagram of the octopus-like suction cup structure in the cyclic freeze-thaw molding process of the multimodal biomimetic peristaltic origami artificial muscle device of the present invention.

[0049] Figure 5 This is a schematic diagram of the core drive unit electrical execution layer structure in the cyclic freeze-thaw molding process of the multimodal biomimetic peristaltic origami artificial muscle device of the present invention;

[0050] Figure 6 This is a schematic diagram of the core driving unit electrode layer structure in the cyclic freeze-thaw molding process of the multimodal biomimetic peristaltic origami artificial muscle device of the present invention;

[0051] Figure 7 This is a schematic diagram of the octopus-like suction cup electro-actuation layer structure in the cyclic freeze-thaw molding process of the multimodal biomimetic peristaltic origami artificial muscle device of the present invention;

[0052] Figure 8 This is a schematic diagram of the octopus-like suction cup electrode layer structure in the cyclic freeze-thaw molding process of the multimodal biomimetic peristaltic origami artificial muscle device of the present invention.

[0053] Figure 9 This is a schematic diagram of the forward operation of the multimodal biomimetic peristaltic origami artificial muscle device modified by doping with polyacrylamide, glucose, nanocellulose, and ethanol according to the present invention.

[0054] Figure 10 This is a schematic diagram of the curling operation of the multimodal biomimetic peristaltic origami artificial muscle device modified by polyacrylamide, glucose, nanocellulose, and ethanol doping according to the present invention.

[0055] Figure 11 This is a schematic diagram illustrating the contraction mechanism of the multimodal biomimetic peristaltic origami artificial muscle device modified by doping with polyacrylamide, glucose, nanocellulose, and ethanol according to the present invention. Detailed Implementation

[0056] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0057] Before conducting the experiment, prepare the following materials and equipment:

[0058] Materials: Polyacrylamide powder, glucose powder, nanocellulose suspension, ethanol solution

[0059] Multi-walled carbon nanotube aqueous slurry, actuator fluid, electrolyte, polyurethane adhesive, bio-adhesive, deionized water.

[0060] Equipment: 3D printer, vacuum drying oven, low-temperature freezer, constant temperature stirring device, tensile testing machine (for mechanical property testing), electrochemical testing instrument (for electrochemical characteristic testing), cyclic freeze-thaw machine, high-precision syringe.

[0061] Please see the appendix Figure 1 - Appendix Figure 11 This invention provides a cyclic freeze-thaw molding process for a multimodal biomimetic peristaltic origami artificial muscle device.

[0062] Example 1 – Optimized Proportioning Conditions

[0063] Objective: To verify the performance of a biomimetic peristaltic origami artificial muscle device under optimal material ratios and process parameters.

[0064] Material usage:

[0065] Polyacrylamide solution: 40 mL (concentration 12.5 g / L)

[0066] Glucose: 0.2g

[0067] Nanocellulose suspension: 50mL

[0068] Ethanol solution: 10 mL

[0069] Multi-walled carbon nanotube aqueous slurry: 15 mL (4:1 volume ratio with polyacrylamide solution)

[0070] Freeze-thaw cycles: 5 times (freezing temperature -20℃, freezing time 12h, thawing time 6h)

[0071] Process steps:

[0072] Preparation of the electrical response execution layer solution:

[0073] Dissolve polyacrylamide powder in deionized water and stir until completely dissolved (temperature 55℃).

[0074] Glucose powder was added to a nanocellulose suspension and stirred to dissolve, thus preparing a glycosyl solution.

[0075] Mix the sugar-based solution with the polyacrylamide solution and stir at a constant temperature for 20 minutes.

[0076] Add the ethanol solution and continue stirring until homogeneous.

[0077] The mixed solution was placed in a 3D-printed petri dish and then placed in a low-temperature freezer for freeze-thaw cycles.

[0078] Preparation of electrode layer solution:

[0079] Dissolve polyacrylamide powder in deionized water and stir until completely dissolved (temperature 55℃).

[0080] Add multi-walled carbon nanotube aqueous slurry and stir continuously until evenly mixed.

[0081] The electrode solution was poured into a 3D-printed origami unit culture dish and placed in a vacuum drying oven for drying (temperature 65℃, drying time 20h, vacuum degree -0.85MPa).

[0082] Assemble artificial muscle devices:

[0083] Two electrode layers are respectively adhered to both sides of the electro-response actuation layer whose surface has been uniformly coated with actuation fluid, thus completing the assembly of the smallest unit of the flexible torso artificial muscle device and the origami joint.

[0084] The smallest units of flexible torso artificial muscles are embedded into a 3D-printed mold by stacking them layer by layer.

[0085] The electrolyte is precisely injected into the gaps of the mold.

[0086] The mold was transferred to a vacuum drying oven for drying (temperature 35℃, drying time 24h, vacuum degree -0.85MPa).

[0087] After drying, the flexible torso artificial muscle device is arranged along the creases of the origami joint, the connection points are fixed with polyurethane bio-adhesive, and the flexible torso unit is connected through embedded flexible electrodes.

[0088] Example 2 – High Concentration Polyacrylamide

[0089] Objective: To test the effect of increasing the concentration of polyacrylamide solution on device performance.

[0090] Material usage:

[0091] Polyacrylamide solution: 40 mL (concentration 15 g / L)

[0092] Glucose: 0.3g

[0093] Nanocellulose suspension: 50mL

[0094] Ethanol solution: 12 mL

[0095] Multi-walled carbon nanotube aqueous slurry: 15 mL (volume ratio of polyacrylamide solution 4:1) Number of freeze-thaw cycles: 5 times (freezing temperature -20℃, freezing time 12h, thawing time 6h) Process steps: same as in Example 1.

[0096] Example 3 – Low Concentration Polyacrylamide

[0097] Objective: To test the effect of reducing the concentration of polyacrylamide solution on device performance.

[0098] Material usage:

[0099] Polyacrylamide solution: 40 mL (concentration 10 g / L)

[0100] Glucose: 0.2g

[0101] Nanocellulose suspension: 50mL

[0102] Ethanol solution: 10 mL

[0103] Multi-walled carbon nanotube aqueous slurry: 15 mL (volume ratio of polyacrylamide solution 4:1) Number of freeze-thaw cycles: 5 times (freezing temperature -20℃, freezing time 12h, thawing time 6h) Process steps: same as in Example 1.

[0104] Example 4 – High-content carbon nanotubes

[0105] Objective: To test the effect of increasing the amount of multi-walled carbon nanotubes on the conductivity of the electrode layer.

[0106] Material usage:

[0107] Polyacrylamide solution: 40 mL (concentration 12.5 g / L)

[0108] Glucose: 0.2g

[0109] Nanocellulose suspension: 50mL

[0110] Ethanol solution: 10 mL

[0111] Multi-walled carbon nanotube aqueous slurry: 20 mL (volume ratio of polyacrylamide solution 6.5:1)

[0112] Freeze-thaw cycles: 5 times (freezing temperature -20℃, freezing time 12h, thawing time 6h)

[0113] Process steps: Same as in Example 1.

[0114] Example 5 – High number of freeze-thaw cycles

[0115] Objective: To test the effect of increasing the number of freeze-thaw cycles on the porous structure of the device.

[0116] Material usage:

[0117] Polyacrylamide solution: 40 mL (concentration 12.5 g / L)

[0118] Glucose: 0.2g

[0119] Nanocellulose suspension: 50mL

[0120] Ethanol solution: 10 mL

[0121] Multi-walled carbon nanotube aqueous slurry: 15 mL (4:1 volume ratio with polyacrylamide solution)

[0122] Freeze-thaw cycles: 6 times (freezing temperature -20℃, freezing time 12h, thawing time 6h)

[0123] Process steps: Same as in Example 1.

[0124] Comparative Example

[0125] Comparative Example 1 – Traditional Drying Process

[0126] Objective: To compare the effects of traditional drying processes and cyclic freeze-thaw processes on device performance.

[0127] Material usage: Same as in Example 1.

[0128] Process steps:

[0129] Prepare the electro-response actuation layer solution and electrode layer solution (process is the same as in Example 1).

[0130] The solutions for the electro-response execution layer and the electrode layer were dried separately without cyclic freeze-thaw treatment, using a conventional drying oven.

[0131] Assemble the artificial muscle device (the steps are the same as in Example 1).

[0132] Comparative Example 2 – No Glucose Doping

[0133] Objective: To test the role of glucose in the material.

[0134] Material usage: No glucose was added compared to Example 1.

[0135] Process steps: Same as in Example 1.

[0136] Comparative Example 3 – No Ethanol Doping

[0137] Objective: To test the role of ethanol in materials.

[0138] Material usage: No ethanol was added compared to Example 1.

[0139] Process steps: Same as in Example 1.

[0140] Test case

[0141] Experimental Example 1 – Mechanical Property Testing

[0142] Objective: To test the tensile strength and elongation at break of artificial muscle devices under different embodiments and comparative examples.

[0143] Test method: The prepared electroresponsive actuator layer and electrode layer materials were subjected to tensile tests using a tensile testing machine, and the tensile strength and elongation at break were recorded.

[0144] The results are shown in Table 1:

[0145] Group Tensile strength (MPa) Elongation at break (%) Average value (MPa / %) Example 1 28.5 420 224.25 Example 2 32.1 395 222.45 Example 3 18.9 550 269.45 Example 4 30.2 380 219.40 Example 5 27.6 430 234.20 Comparative Example 1 8.5 120 66.00 Comparative Example 2 20.1 350 175.50 Comparative Example 3 15.7 400 170.70

[0146] Table 1

[0147] Conclusion: As shown in Table 1, the cyclic freeze-thaw process (Examples 1-5) significantly improved the mechanical properties of the materials, especially compared with the traditional drying process (Comparative Example 1), with a substantial increase in tensile strength and elongation at break. The doping of glucose (Comparative Example 2) and ethanol (Comparative Example 3) also had a certain impact on the properties.

[0148] Experimental Example 2 – Electrochemical Characteristic Test

[0149] Objective: To test the conductivity and electrochemical stability of the electrode layers in different embodiments and comparative examples.

[0150] Test method: The conductivity and electrochemical stability of the electrode layer were tested using an electrochemical tester.

[0151] The results are shown in Table 2:

[0152] Group Conductivity (S / m) Electrochemical stability (h) Example 1 320 120 Example 2 345 115 Example 3 280 130 Example 4 380 110 Example 5 310 125 Comparative Example 1 150 60 Comparative Example 2 250 80 Comparative Example 3 180 70

[0153] Table 2

[0154] Conclusion: The electrode layers in the examples exhibit better conductivity and electrochemical stability than the comparative examples, especially Example 4, which uses a higher amount of multi-walled carbon nanotubes and has the highest conductivity.

[0155] Test Example 3 – Impact Resistance Test

[0156] Objective: To test the impact resistance of artificial muscle devices under different embodiments and comparative examples.

[0157] Test method: The prepared artificial muscle device was subjected to repeated folding and unfolding tests, and the performance retention rate was recorded after 1000 cycles.

[0158] The results are shown in Table 3:

[0159]

[0160]

[0161] Table 3

[0162] Through comparative tests of the above embodiments and comparative examples, it is evident that the biomimetic peristaltic origami artificial muscle device prepared using the cyclic freeze-thaw molding process outperforms traditional processes and processes using unmodified materials in terms of mechanical properties, electrochemical characteristics, and impact resistance. This indicates that the process of the present invention can effectively improve the overall performance of artificial muscle devices and meet the needs of complex application scenarios.

[0163] Multimodal artificial muscle devices refer to artificial muscle devices that can achieve multiple motion modes (such as extension, bending, twisting, and peristalsis) through electro-drive. The plasticity of artificial muscle devices refers to their reversible deformation under external voltage stimulation and their ability to return to their original shape after the stimulation is removed. The mechanical properties of artificial muscle devices refer to their mechanical characteristics, which directly affect their motion capability, load adaptability, and practical application effects. The electrochemical properties of artificial muscle devices refer to their ability to conduct charge transport and ion migration during electrochemical drive or response processes. The motion accuracy of artificial muscle devices refers to their ability to maintain stable driving performance under conditions exceeding those of normal operation.

[0164] Combination Figure 1-11 It can be seen that when the multimodal biomimetic peristaltic origami artificial muscle device is subjected to voltage, the cations inside the device migrate directionally towards the negative electrode and accumulate, while the anions remain stationary as a polymer framework. Within a short time, the electrostatic repulsion between the ions causes the material to undergo significant bending deformation, completing the process. Figure 9 , 10 After the action of 11 is completed, applying a reverse voltage can reset 1, and the degree of deflection of 1 can be adjusted by controlling the magnitude of the voltage, that is, the greater the voltage corresponds to the greater the degree of deformation. Based on the same deflection principle as 3, when 2 works under voltage drive, the air inside it is expelled, forming a local vacuum, thereby achieving stable adhesion to various complex terrains.

[0165] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multimodal biomimetic peristaltic origami artificial muscle device cyclic freeze-thaw molding process, characterized in that, The process described is used to manufacture a multimodal biomimetic peristaltic origami artificial muscle device, and the process includes the following steps: An electroresponsive actuation layer with a uniform porous structure, excellent plasticity and mechanical properties was prepared by mixing 40 mL of a 10-15 g / L polyacrylamide solution with 0.1-0.3 g glucose, 40-60 mL of nanocellulose suspension and 8-12 mL of ethanol in an optimized ratio and using a 4-6 cycle freeze-thaw process. A highly conductive electrode layer is prepared by mixing 70-90 mL of a polyacrylamide solution with a concentration of 15-25 g / L and 15-25 mL of a multi-walled carbon nanotube aqueous slurry and drying the mixture. The smallest unit of the flexible torso artificial muscle device is constructed by combining the electroresponsive actuation layer and the electrode layer. The overall assembly of the multimodal biomimetic peristaltic origami artificial muscle device is completed by layer-by-layer stacking, mold filling and origami joint integration.

2. The cyclic freeze-thaw molding process for the multimodal biomimetic peristaltic origami artificial muscle device according to claim 1, characterized in that: The concentration of the polyacrylamide solution is 12.5-14.5 g / L, the amount of glucose is 0.2-0.4 g, the amount of nanocellulose suspension is 50-60 mL, the amount of ethanol is 10-20 mL, the number of cycles of freeze-thaw is 5-6, the freezing temperature is -20℃, the freezing time is 10-14 h, and the thawing time is 5-7 h.

3. The cyclic freeze-thaw molding process for the multimodal biomimetic peristaltic origami artificial muscle device according to claim 1, characterized in that, The volume ratio of the polyacrylamide solution to the multi-walled carbon nanotube aqueous slurry is 4:1-4.5:

1.

4. The cyclic freeze-thaw molding process for the multimodal biomimetic peristaltic origami artificial muscle device according to claim 1, characterized in that, The preparation steps of the electrical response execution layer include: Dissolve polyacrylamide powder in deionized water and stir until completely dissolved; Glucose powder was added to a nanocellulose suspension and stirred to dissolve, thus preparing a glycosyl solution. Mix the sugar-based solution with the polyacrylamide solution and stir at a constant temperature for 15-25 minutes. Add the ethanol solution and continue stirring until homogeneous; The mixed solution was placed in a 3D-printed petri dish and then placed in a low-temperature freezer for freeze-thaw cycles.

5. The cyclic freeze-thaw molding process for the multimodal biomimetic peristaltic origami artificial muscle device according to claim 4, characterized in that, The stirring temperature is 55-65℃.

6. The cyclic freeze-thaw molding process for the multimodal biomimetic peristaltic origami artificial muscle device according to claim 1, characterized in that, The electrode layer is prepared by the following steps: Dissolve polyacrylamide powder in deionized water and stir until completely dissolved; Add multi-walled carbon nanotube aqueous slurry and continue stirring until evenly mixed; The electrode solution was poured into a 3D-printed origami unit culture dish and placed in a vacuum drying oven for drying.

7. The cyclic freeze-thaw molding process for the multimodal biomimetic peristaltic origami artificial muscle device according to claim 6, characterized in that: The stirring temperature is 55-65℃, the drying temperature is 65-75℃, the drying time is 18-22h, and the vacuum degree is -0.8-0.9MPa.

8. The cyclic freeze-thaw molding process for the multimodal biomimetic peristaltic origami artificial muscle device according to claim 1, characterized in that, The assembly steps of the artificial muscle device include: Two electrode layers prepared by 3D printing were laminated and bonded to both sides of an electro-responsive actuation layer whose surface was uniformly coated with actuation fluid, thus completing the assembly of the core driving unit of the bionic artificial muscle device. Using the same assembly process, the octopus-like suction cup structure prepared by 3D printing was laminated and assembled. Subsequently, the assembled artificial muscle core driving unit and the bionic suction cup structure were simultaneously transferred to a vacuum drying oven for drying treatment to solidify the actuation layer and ensure that the interfaces between the layers are firmly bonded.

9. The cyclic freeze-thaw molding process for the multimodal biomimetic peristaltic origami artificial muscle device according to claim 8, characterized in that: The drying temperature is 35-45℃, the drying time is 22-26h, and the vacuum degree is -0.8-0.9MPa.

Images