Bionic soft robot and preparation method thereof

Abstract

The invention discloses a bionic soft-bodied robot and a preparation method thereof, and relates to the field of bionic soft-bodied robots, the bionic soft-bodied robot comprises a carbon precursor layer formed by polyimide paper; an LIG functional layer formed on the carbon precursor layer by graded laser processing; the LIG functional layer has regionalized resistance distribution regulated and controlled by differential laser energy processing and regionalized rigidity distribution regulated and controlled by directional laser scribing; the Kapton adhesive tape substrate layer is adhered to the bottom of the carbon precursor layer; the electrode is arranged in a preset area of the LIG functional layer; the PDMS thermal expansion layer is spin-coated on the surface of the LIG functional layer; and the electrode is packaged between the LIG functional layer and the PDMS thermal expansion layer. The bionic soft robot provided by the invention has good deformability.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of bionic soft robots, and particularly relates to a bionic soft robot and a preparation method thereof. BACKGROUND

[0002] The morphological changes of organisms in nature provide core design inspiration for bionic soft robots. An octopus tentacle can realize the coordinated deformation of "bending-rolling-rigid support" through local muscle contraction, which can not only conform to grasp irregular objects, but also can flexibly shuttle in narrow gaps. A vine can realize climbing growth along a complex path through directional winding and local stiffness adjustment. The common feature of these organisms is "precise integration of multi-modal deformation": without the need for multi-component splicing, a single structure can simultaneously realize multiple deformation modes, and the deformation process is continuous and controllable. This feature also becomes a core technical indicator of the next generation of bionic soft robots: the actuator needs to have "multi-modal deformation capability" (bending, twisting, spiral, local rigid switching, etc.) and "structural precision integration" (no obvious splicing interface, and the deformation can be precisely controlled to the micron level), so as to support the application of the robot in medical intervention (such as intravascular navigation), extreme environment exploration (such as narrow pipeline detection), and flexible grasping (such as fragile object operation).

[0003] However, although early stimulus-responsive materials (such as hydrogels and shape memory polymers) are flexible, their structure and composition are uniform, and they can only realize swelling, shrinking or uniform bending in a single direction, and cannot simulate the multi-modal deformation of organisms. Traditional local programming techniques (such as 3D printing, photolithography, and inkjet printing) attempt to realize complex deformation through structure / material partitioning, but have significant limitations. Photolithography can achieve micron-level precision processing, but only supports a few materials such as photosensitive resin, and cannot support conductive and thermal response functions, resulting in a single deformation driving mode. Direct ink writing technology can realize multi-material compounding, but cannot achieve precise division of the deformation area because the resolution is only on the order of hundreds of microns. Mechanical lamination technology realizes deformation by splicing material layers with different properties, but the physical bonding interface leads to discontinuous deformation, and long-term use can cause interlayer peeling. SUMMARY

[0004] The purpose of the present application is to provide a bionic soft robot and a preparation method thereof, which can effectively solve the problems in the prior art that materials cannot simulate the multi-modal deformation of organisms and traditional local programming techniques have a single deformation driving mode and a discontinuous deformation process.

[0005] To achieve the above-mentioned purpose, the present application provides the following solutions. In a first aspect, the present application provides a bionic soft robot, comprising: a carbon precursor layer composed of a polyimide paper; a LIG functional layer formed on the carbon precursor layer by hierarchical laser processing; the LIG functional layer has a regionalized resistance distribution regulated by differential laser energy processing and a regionalized stiffness distribution regulated by directional laser scribing; a Kapton tape substrate layer pasted at the bottom of the carbon precursor layer; an electrode arranged at a predetermined region of the LIG functional layer; a PDMS thermal expansion layer spin-coated on the surface of the LIG functional layer; the electrode is encapsulated between the LIG functional layer and the PDMS thermal expansion layer; wherein the range of the regionalized resistance distribution is 8-261 Ω / sq, and the range of the regionalized stiffness distribution is 33.4-103.4 MPa.

[0006] In a second aspect, the application provides a preparation method of a bionic soft robot, comprising: obtaining a functional requirement of the bionic soft robot; the functional requirement includes grasping, crawling and narrow space navigation; determining a target deformation mode list and a functional geometry requirement according to the functional requirement of the bionic soft robot; determining a laser scanning path, and setting differential laser energy processing parameters and directional laser scribing parameters based on CAD software according to the target deformation mode list and the functional geometry requirement; performing differential laser energy processing and directional laser scribing on a polyimide paper substrate based on the laser scanning path to obtain a LIG functional layer with a predetermined resistance and stiffness distribution; applying conductive silver paste on a predetermined region of the LIG functional layer to form ohmic contact with a copper wire; pouring a PDMS solution on the LIG functional layer, and then placing the LIG functional layer on a spin coater to perform uniform spin coating at a set speed to obtain a LIG functional layer covered by a PDMS thermal expansion layer; the PDMS solution is obtained by mixing monomers and curing agents at a set ratio; after heat curing treatment of the LIG functional layer covered by the PDMS thermal expansion layer, cutting according to the geometric edges of the laser-induced graphene to obtain a bionic soft robot sample; performing an electrification test on the bionic soft robot sample according to the functional requirement of the bionic soft robot to verify whether the bionic soft robot sample meets the preset target deformation mode; if not, adjusting the differential laser energy processing parameters and the directional laser scribing parameters, and re-preparing and testing until the requirements are met; if yes, a finished bionic soft robot is obtained.

[0007] According to the specific embodiments provided in the application, the following technical effects are disclosed: The application provides a kind of bionic soft robot and its preparation method, which is based on polyimide paper, and forms a functional layer with regionalized resistance and stiffness distribution on the carbon precursor layer by combining laser-induced graphene (LIG) technology. Among them, the differential laser energy processing is to make the resistance value of different areas of LIG functional layer accurately distributed in the range of 8~261Ω / sq by adjusting the defocusing distance and power, to provide the basis for electric heating driving of deformation; Directional laser scribing realizes the stiffness gradient regulation of 33.4~103.4MPa by adjusting the scribing angle (0°~±90°) and stripe spacing, and gives the structural anisotropic deformation ability. BRIEF DESCRIPTION OF DRAWINGS

[0008] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0009] Figure 1 A design schematic diagram of a bionic soft robot provided by an embodiment of the present application is provided. Figure 2 A local position, length and number control schematic diagram of a joint type driver based on DLE technology provided by an embodiment of the present application is provided. Figure 3 A different curvature control diagram of a driver based on DEL technology provided by an embodiment of the present application is provided. Figure 4 A LIG functional layer microstructure and device deformation direction control schematic diagram based on DLS technology provided by an embodiment of the present application is provided. Figure 5 A device attribute quantification schematic diagram based on DLS technology provided by an embodiment of the present application is provided. Figure 6 A strip-shaped driver schematic diagram of a plurality of complex deformation postures customized by DLE+DLS combined technology provided by an embodiment of the present application is provided. Figure 7 A driver schematic diagram with different rigidity behaviors provided by an embodiment of the present application is provided. Figure 8 A design method flowchart of an octopus tentacle type grabbing robot provided by an embodiment of the present application is provided. Figure 9 A design method flowchart of a bionic crawling type soft robot provided by an embodiment of the present application is provided. Figure 10 A processing flow schematic diagram provided by an embodiment of the present application is provided. Figure 11An optical photo of a U-shaped strip-shaped LIG driver provided by an embodiment of the present application; Figure 12 A cross-sectional SEM photo and a deformation principle schematic diagram of a LIG driver provided by an embodiment of the present application; Figure 13 An electro-thermal deformation performance and cycle stability schematic diagram of a LIG-SA provided by an embodiment of the present application; Figure 14 A bionic soft robot preparation method flowchart provided by an embodiment of the present application; Figure 15 A heat distribution schematic diagram of laser processing on a polyimide paper surface provided by an embodiment of the present application; Figure 16 A processing mechanism and electrical regulation attribute schematic diagram of DLE technology provided by an embodiment of the present application; Figure 17 A LIG effective resistance range schematic diagram based on DLE technology regulation provided by an embodiment of the present application; Figure 18 A plurality of complex deformation structure diagrams realized by a plurality of module assemblies provided by an embodiment of the present application. DETAILED DESCRIPTION

[0010] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present application.

[0011] Laser-induced graphene (LIG) technology can realize the integration of electrical conductivity, thermal conductivity and mechanical structure through single-step laser writing of polyimide (PI) and other precursors, and the resistance characteristics of the LIG layer can be regulated by laser parameters, which provides a basis for electro-thermal driven deformation. Based on the LIG, the soft actuator (LIG-SA) has become the mainstream research direction of bionic soft robot actuators due to the advantages of “simple processing-function integration”. However, the existing LIG-SA technology still cannot solve the core requirement of “precise integration of multi-modal deformation”, and the three mainstream implementation schemes all have obvious shortcomings in deformation ability and integration degree, which has become a key obstacle restricting the development of bionic soft robots.

[0012] The existing scheme is “LIG soft actuator preparation technology based on laser writing”, which takes “LIG layer electro-thermal driving + thermal response layer expansion difference” as the core deformation principle. According to the processing strategy and deformation control ability, it can be divided into three categories, and the specific characteristics of its structure design, processing flow and deformation effect are as follows: (1) Uniform writing scheme: single deformation actuator prepared by fixed parameters: This scheme is the basic form of LIG-SA, and the core design idea is to prepare a homogeneous LIG layer by fixing the laser parameters, and to realize bending deformation by using the difference in the thermal expansion coefficient between the LIG layer and the polydimethylsiloxane (PDMS) thermal response layer (the thermal expansion coefficient of PDMS is about 30 times that of the LIG layer). The specific structure consists of "PI substrate-LIG functional layer-PDMS thermal response layer", and each layer forms a composite structure through physical bonding or spin coating, wherein the LIG layer is homogeneous and has no regional characteristic difference. The processing flow is divided into two steps: a CO2 laser (wavelength 10.6 μm) is used to write the PI layer with fixed parameters (power 0~25 W, writing speed 0~5 inch / s, spot diameter 100 μm) to form a continuous LIG layer, and then 10:1 ratio of PDMS monomer and curing agent is spin coated on the surface of the LIG layer (rotation speed 1000 rpm, time 60 s), and then cured and formed at 80°C for 1 hour.

[0013] The deformation ability of this scheme is limited: since the LIG layer is homogeneous and has no structural partition, it uniformly heats up when powered on, and the PDMS layer uniformly expands along the thickness direction, only realizing bending deformation in a single direction with a fixed curvature, and cannot realize spiral, torsion or local rigid support deformation modes; and there is no regional difference in the deformation process, which cannot simulate the "local deformation coordination" of living beings (such as the proximal support and distal bending of octopus tentacles), and can only be used for simple "grabbing-release" actions, and cannot be adapted to complex bionic scenarios.

[0014] (2) Local adjustment scheme: improved actuator with joint or spiral: To break through the limitation of the uniform writing scheme that can only bend uniformly in a single direction, this scheme constructs LIG layer attribute differences by "local adjustment of processing conditions" to realize joint or spiral deformation, which is divided into three technical paths, all of which are optimized based on the uniform writing scheme (Kapton substrate-PI layer-LIG layer-PDMS layer) and have consistent processing logic.

[0015] The first type is "local processing-local non-processing" to realize partial joint bending: laser selective processing is used to write LIG only in the preset joint area (processing area), and to skip writing in the non-joint area (non-processing area); the "no resistance-high resistance" attribute is controlled, the LIG in the processing area can be powered to heat, and the non-processing area has no resistance and remains rigid; finally, only the joint area is driven to deform, forming an "rigid segment-deformation joint" interval structure, realizing local joint bending.

[0016] The second type is "regional geometric width regulation" to achieve joint bending: different width LIG regions are pre-set on the PI film, and laser is written according to the width of the region; based on the width difference, "high stiffness-low stiffness" is regulated, the narrow width region has low stiffness and is easy to deform, and the wide width region has high stiffness and weak bending; through the alternation of wide and narrow regions, the bending degree is differentiated, and the multi-joint cooperative bending is realized.

[0017] The third type is "overall oblique uniform processing" to realize overall spiral: uniform laser parameters are used to obliquely scribe (such as 45°), and consistent oblique microstrips are formed on the LIG layer; the "anisotropic stiffness" is regulated, the stiffness is low along the scribing direction and high perpendicular to the scribing direction; after power-on, the whole heats up, expands and curls along the low stiffness direction, forming a uniform spiral, and the spiral direction is consistent with the scribing direction.

[0018] The commonality of the three types of path processing procedures is that the boundaries of the partitions (or scribing directions) are marked on the PI film first, then the laser is written according to the corresponding method, and the subsequent PDMS coating and curing steps are the same as the uniform writing scheme.

[0019] Although the deformation ability of this scheme has been improved, there are still obvious deficiencies: only relatively simple joint deformation or spiral deformation can be realized, and the free combination of multiple deformation modal units cannot be realized to achieve complex deformation postures, and the deformation integration is still low; some schemes need to use multiple driving methods for control (such as the combination of photothermal and electrothermal), and the operation is complex. And the soft robots prepared by these methods can only be used for simple "slope climbing" or "single direction object pushing", and cannot meet the complex bionic motion requirements.

[0020] (3) Multi-unit splicing scheme: integrated actuator of combined deformation To realize more complex deformation functions, this scheme combines modules with different deformation characteristics through "multi-independent LIG-SA unit splicing" to form an integrated structure with multiple simple deformations. The core structure is composed of multiple independent long strip-shaped LIG-SA units, each unit is prepared by using the uniform writing or segmented power regulation scheme, and is bonded to the central support (such as a thin PI plate) by a silicone adhesive (such as PDMS-based glue). Each unit is equipped with an independent electrode and a direct current power channel, and the combined deformation is realized by controlling the power-on sequence of different units. A typical design such as "three-unit grabbing structure": three long strip-shaped LIG-SA units are bonded to a circular PI substrate at an angle of 120°, each unit can realize one-way bending, and through the time sequence control of "unit 1 bending→unit 2 bending→unit 3 bending", a simple grabbing action is formed.

[0021] However, although this scheme can realize the combination of multiple deformations, the deformation integration degree and precision have fatal defects: each unit is connected through physical bonding, there is an obvious splicing interface, which leads to discontinuous deformation process (such as the unit connection cannot realize smooth bending), and the interface is prone to peeling after long-term deformation, affecting the stability of the deformation; at the same time, each unit needs to be driven by an independent power supply, the system wiring is complex, and the deformation coordination precision between units is low, which cannot realize "micron-level precision deformation control" (such as the precise grabbing of octopus tentacles to small objects); in addition, the splicing of multiple units leads to an increase in the overall structure volume, which cannot adapt to narrow spaces, greatly limiting its application in medical intervention, precision manufacturing and other scenarios.

[0022] The existing LIG soft actuator technology takes "fixed parameter writing, segmented processing or multi-unit splicing" as the core logic, and its most critical limitation is concentrated in the breakthrough of the soft robot deformation capability: due to the processing method cannot adapt to the demand of "precise integration of multiple deformation modules" for complex bionic movement, the existing scheme always cannot realize the coordinated control of different deformation functions (bending, curling, rigid support, flexible transition) - the uniform processing scheme can only produce an actuator with single curvature bending, which cannot simulate the "multi-joint linkage" of biological limbs; the local processing scheme can realize linear gradient deformation, but cannot precisely integrate differential modules such as "directional curling-rigid support", and it is difficult to achieve complex shapes such as vine winding and tentacle gripping; the geometric design scheme relies on the bonding of multiple units of silica gel, which not only has low coordination precision between modules (cannot realize micron-level deformation connection), but also causes the bionic soft robot to lose flexibility and adaptability (such as unable to pass through narrow passages). This "single deformation and low integration" technical bottleneck directly restricts the simulation capability of bionic soft robots to natural biological movement, making it unable to meet the core needs of "multi-morphology flexible customization" in medical minimally invasive operations, extreme environment exploration and other scenarios, and also derives problems such as complex driving system (multiple channel power supply is difficult to synchronize control multiple deformation modules) and poor structural flexibility.

[0023] Therefore, the present application provides a bionic soft robot and a preparation method thereof, which realizes the precise integration of four deformation modules of "straight bending-directional curling-rigid support-flexible connection" on a single substrate through the cooperative strategy of "differential laser energy (DLE) regulating material deformation characteristics + directional laser scribing (DLS) defining structure stiffness direction", and can realize micron-level precise connection between modules through laser parameter adjustment, which fundamentally solves the problem of "single deformation and low integration" of the prior art, and provides a "multi-morphology controllable" core actuator technology for bionic soft robots.

[0024] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0025] Embodiment one As Figure 1 shown, the embodiment provides a bionic soft robot, which comprises: a carbon precursor layer composed of polyimide paper; a LIG functional layer formed on the carbon precursor layer by hierarchical laser processing; the LIG functional layer has a regionalized resistance distribution regulated by differential laser energy processing and a regionalized stiffness distribution regulated by directional laser scribing; a Kapton tape substrate layer pasted at the bottom of the carbon precursor layer; an electrode arranged in a predetermined area of the LIG functional layer; a PDMS thermal expansion layer spin-coated on the surface of the LIG functional layer; the electrode is encapsulated between the LIG functional layer and the PDMS thermal expansion layer; wherein the range of the regionalized resistance distribution is 8-261 Ω / sq, and the range of the regionalized stiffness distribution is 33.4-103.4 MPa.

[0026] wherein the LIG functional layer is encoded to form straight-bending basic deformation modules, directional spiral curling basic deformation modules, rigid support basic deformation modules and flexible connection basic deformation modules through the time sequence cooperation of differential laser energy processing and directional laser scribing; the straight-bending basic deformation modules, the directional spiral curling basic deformation modules, the rigid support basic deformation modules and the flexible connection basic deformation modules generate a multi-module integrated structure through laser path partition programming.

[0027] Specifically, the straight-bending basic deformation module is realized by scribing angle θ=0°, the directional spiral curling basic deformation module is realized by scribing angle θ=±15°-±75°, and the rigid support basic deformation module is realized by scribing angle θ=±90°.

[0028] wherein the hierarchical laser processing technology of the LIG functional layer can be as follows: The hierarchical laser processing method of the LIG functional layer is to realize the precise mapping of the microstructure-macroscopic properties-deformation mode of the LIG functional layer through the time sequence cooperation and parameter coupling of DLE and DLS, to solve the problem that traditional processing cannot synchronously regulate multiple properties and multiple modes, and the specific regulation mechanism and implementation process are as shown in Figure 2 .

[0029] The principle of DLE differential laser energy processing is to adjust the defocusing length (defocusing distance: 0~3.5mm) and power (8~25W) of CO2 laser (wavelength 10.6μm) to cooperatively control the "heat input" during the carbonization of PI layer. In the focusing mode (defocusing distance: 0mm), the PI molecular chain can be fully broken and recombined to form graphene material. At this time, the heat of the laser presents a Gaussian distribution around the laser spot, and through the processing mode of array linear scanning, an array of groove microstructures is formed, thereby generating a large resistance. In the defocusing mode (D_L=0.5~3.5mm), higher energy input leads to more sufficient carbonization and forms a flat microstructure. This microstructure difference directly maps to the macroscopic electrical / thermal properties: the resistance of graphitized LIG can be adjusted in a large range (8~261Ω / sq), and under the input of 0~80mA current, the temperature can be adjusted in the range of 20~270℃, and these differential microstructures can be integrated seamlessly in one step through the variable parameter processing capability of the laser. Through this regional resistance distribution, it provides an electrical basis for subsequent "differential heating- non-uniform deformation". As shown in Figure 3 , on a LIG-SA, there can be "high resistance heating area" and "low resistance heat preservation area" at the same time, and the relative position, length, number, and resistance value of the two areas can be adjusted respectively, so as to realize the adjustment of the deformation effect of the driver, such as .

[0030] In the DLS directional laser scribing (mechanical property / deformation direction adjustment), when the laser motion platform is scribed according to the preset path (programmable angle -90°~90°, stripe spacing 50~100μm), a directional micro-stripe structure is formed on the LIG functional layer. As shown in A-C of Figure 4 and Figure 5 , the stripe direction is arranged along the scribing angle, and the LIG sheet layer in the stripe direction grows along the scribing direction. This structure determines the anisotropy of the mechanical stiffness: along the stripe direction, the LIG sheet layer is arranged in the direction, the stiffness is low (33.4~50MPa), and the bending is easy to occur; perpendicular to the stripe direction, the sheet layer is cross-stacked, the stiffness is high (80~103.4MPa), and the deformation resistance is strong. For example, when the scribing angle θ=0° (along the length direction), the length direction stiffness is low, and after power-on, the bending is along the width direction (straight bending mode); when θ=45°, the 45° direction stiffness is low, the bending force is along the θ direction, and a directional spiral deformation (spiral curling mode) is formed; when θ=90°, the width direction stiffness is high, and almost no bending occurs (rigid support mode). Through DLS path programming, "straight bending area (θ=0°)", "directional spiral curling area (θ=±15°~±75°)", and "rigid support area (θ=±90°)" can be divided on a single LIG functional layer, and the precise integration of multiple deformation modes can be realized without the need for multiple component splicing.

[0031] Specifically, DLE and DLS are not independent processing, but through the "energy grading + path orientation" time sequence cooperation to realize attribute coupling. As shown in Figure 6 , first determine the resistance / heating characteristics of each region (such as "near-end low-resistance connection area" and "far-end high-resistance curling area") through DLE, and then engrave directional stripes in the corresponding area through DLS (support area θ=90°, spiral area θ=45°, bending area θ=0°), and finally realize the precise matching of "resistance-stiffness-deformation mode" (as shown in D-F in Figure 7 ). For example, high resistance (DLE focus) + θ=45° (DLS) can form high heating temperature and directional stiffness anisotropy, thereby realizing large-angle directional spiral deformation; low resistance (DLE defocus) + θ=90° (DLS) forms low heating temperature and high stiffness, realizing stable rigid support.

[0032] Among them, the deformation essence of LIG-SA is "anisotropic thermal expansion deformation guided by LIG functional layer attribute difference regulated by hierarchical laser processing", which is directly related to laser processing parameters, not simply relying on the basic characteristics of the three-layer structure. First, attribute difference formation: through DLE hierarchical processing, the LIG layer forms "high-resistance area (R1)-low-resistance area (R2)", and after electrification (current I), the Joule heating power P1=I 2 R1 is much larger than the low-resistance area P2=I 2 R2, forming a temperature gradient (T1>T2); then the thermal expansion difference: the PDMS thermal response layer covers the LIG layer, and is affected by the temperature gradient, the PDMS expansion amount ΔL1=α×T1×L (α is the thermal expansion coefficient) above the high-resistance area is much larger than the low-resistance area ΔL2=α×T2×L; In addition, the deformation direction regulation of DLS technology: the PDMS expansion is constrained by the stiffness of the underlying LIG layer (stiffness anisotropy regulated by DLS)—low stiffness area (perpendicular to the stripe direction) is easy to bend, high stiffness area (parallel to the stripe direction) constrains expansion. Finally, the deformation effect of "high-resistance-low-stiffness area preferentially bending" is formed, and when the DLS is engraved θ=45° in this area, the bending direction is along 45°, forming directional curling; engraving θ=0°, bending along the width direction, forming straight bending. Finally, the two technologies can be freely combined to customize soft actuators with free shape deformation capability.

[0033] The core of the whole deformation process is that the deformation effect is completely determined by the laser processing parameters—adjusting the DLE power can change the bending curvature (such as the power from 15W to 25W, the curvature from 0.05cm -1 to 1.4cm -1), adjusting the DLS angle can change the curling direction (e.g., from +75° to -75°, the curling direction changes from clockwise to counterclockwise), and the precise controllable deformation is achieved. The direct mapping relationship between the parameters and the deformation makes the LIG-SA not need complex mechanical structures, and only through the adjustment of the laser processing parameters can multi-modal deformation be achieved, which provides core support for the flexible design of bionic soft robots.

[0034] The application provides typical bionic soft robot design examples, including two types of grabbing robots and crawling robots, and the design examples are as follows: As shown in A-G in the figure, Figure 8 In the laser programmable path design of the octopus tentacle type grabbing robot, the LIG functional layer of the octopus tentacle type grabbing robot is programmed as a proximal rigid support module, a middle multi-joint bending module and a distal spiral curling module; the geometric path is a long strip with a length of 16 cm and a width of 1.5 cm, and the bending attribute path is global 0° focusing processing in a customized processing mode, and the grabbing ability of collecting small particle targets can be realized by attaching an ultra-thin double-sided tape on the back surface; the spiral deformation attribute path is global 45° focusing processing, which realizes the ability of grabbing targets in a cylindrical small hole; the front end rigid-end bending attribute path is a hook-shaped robot with a front end (12 cm) 90° focusing and a tail end (4 cm) 0° focusing, which can realize grabbing in a flat narrow. Finally, by discretely combining the four unit strips of the cross-shaped grabbing robot in the bending (0° focusing processing) and spiral (45° focusing processing) modes, the conformability grabbing of different shaped objects (such as a combination of spherical, square, conical and camera-shaped objects) can be realized, so as to further improve the conformability and stability of grabbing.

[0035] Further, based on the flexible customization capability of the technical method, a variety of motion form crawling robots can be developed. For example, a geometer can realize stable crawling ability through segmented bending peristalsis of the body, and a geometer crawling robot includes a forelimb LIG-SA component and a hind limb LIG-SA component; the forelimb LIG-SA component and the hind limb LIG-SA component realize bending deformation through directional laser scribing with an angle θ = 0°. Figure 9As shown in Figure A, the geometric path of the inchworm-like robot is a flat shape with a total length of 12cm, consisting of one forelimb (6cm×2cm rectangle) and one hindlimb (6cm×2cm rectangle). The two components are seamlessly integrated through "edge-aligned path". The attribute path is processed in the 0° direction under fixed-focus conditions for both the forelimb and hindlimb to ensure that both the forelimb and hindlimb undergo large-amplitude bending deformation. After the laser path defines the deformation characteristics of each component, the timing is controlled by dual-channel power supply: the forelimb is energized to curl and anchor → the hindlimb is energized to bend and follow → the forelimb is released to move the center of gravity → the hindlimb is released to propel the movement, thereby achieving forward and backward bidirectional linear crawling (speed 36.5mm / min).

[0036] For example, seals achieve diverse terrestrial gaits through the sequential deformation of their forelimbs. For instance, by supporting themselves on three legs, seals can use their two forelimbs for stable turning and their hindlimbs for balance, thus achieving pivotal turning. Inspired by this movement, a seal-like robot consists of a pair of independent limb units for exhibiting alternating spiral curling movements (machined at a 45º angle, 5 cm in length), while the rear unit is used for stabilization (machined at a 90º angle, 4.5 cm in length), forming an overall Y-shape. Figure 9 As shown in B in the diagram. Similar to the inchworm-like robot, the seal-like robot can achieve left and right rotation by alternately driving its two limbs to initiate a fixation-curling-turning sequence. Each driving cycle of the robot takes 29 seconds to rotate 27°, and it achieves 360° rotation to the left or right in 344 seconds.

[0037] Example 2 This embodiment provides a method for fabricating a biomimetic soft robot, including: S1: Obtain the functional requirements of the biomimetic soft robot; the functional requirements include grasping, crawling, and navigation in confined spaces; S2: Based on the functional requirements of the bionic soft robot, determine the target deformation mode list and functional geometric requirements; S3: Based on the target deformation mode list and functional geometric requirements, determine the laser scanning path using CAD software, and set differentiated laser energy processing parameters and directional laser scribing parameters; S4: Based on the laser scanning path, differential laser energy processing and directional laser scribing are performed on the polyimide paper substrate to obtain a LIG functional layer with a predetermined resistance and stiffness distribution. S5: Coat the predetermined electrode area on the LIG functional layer with conductive silver paste to form an ohmic contact with the copper wire; S6: After pouring PDMS solution onto the LIG functional layer, place it on a spin coater and spin coat it evenly at a set speed to obtain a LIG functional layer covered by a PDMS thermal expansion layer; the PDMS solution is obtained by mixing monomers and curing agents in a set ratio. S7: After the LIG functional layer covered by the PDMS thermal expansion layer is thermally cured, it is cut according to the geometric edge of the laser-induced graphene to obtain a biomimetic soft robot sample. S8: Based on the functional requirements of the bionic soft robot, conduct an electrical test on the bionic soft robot sample to verify whether the sample meets the preset target deformation mode; if not, adjust the differential laser energy processing parameters and directional laser scribing parameters, re-prepare and test until the requirements are met; if the requirements are met, the finished bionic soft robot is obtained.

[0038] In this embodiment, the core architecture of the biomimetic soft robot fabrication method is built around "LIG functional layer hierarchical laser processing - multi-attribute precise control - biomimetic soft robot programmable design". Through the coordinated hierarchical processing of differentiated laser energy (DLE) and directional laser scribing (DLS), the regional control of the mechanical (stiffness) and electrical (resistance) properties of the LIG functional layer is realized, thereby encoding multiple deformation modes. Then, based on the laser programmable path, the geometry and functional partitions of the LIG-SA are designed, and finally a biomimetic soft robot with free shape change is integrated.

[0039] The overall process uses "tiered laser processing" as the key hub, covering five stages: "demand-parameters-processing-forming-verification." Each stage is driven by "laser programmability," and its technical concept is as follows: Figure 1 As shown, a series of LIG materials with different structural morphologies and functional properties can be formed in a single, variable-parameter processing on a polyimide paper substrate using a laser. Subsequently, through further assembly at the component scale, functional devices with customized performance are obtained, comprising a functional layer with patterned LIG as the core, a carbon precursor layer with polyimide paper as the core, a substrate layer with Kapton tape as the core, and a thermal expansion layer with PDMS as the core. The specific processing flow of the drive device is as follows: Figure 10 As shown, Kapton tape was firmly adhered to the bottom of polyimide paper, and a laser was used to perform customized processing on the top of the paper. Subsequently, silver paste and copper electrodes were installed at the positive and negative electrodes of the laser-induced graphene, and a PDMS solution with a monomer-to-curing agent ratio of 1:1 was poured in and uniformly spin-coated at 1000 rpm on a spin coater. The spin-coated material was then placed in an oven and heated at 80°C for 1 hour to complete the PDMS curing. Finally, the cured device was cut according to the geometric edges of the laser-induced graphene to complete the sample preparation. Figure 11The copper wires connected to the device are connected to the positive and negative terminals of a DC power supply. When the voltage is turned on, the laser induces the graphene to heat up under the action of electrojoule heating, causing the PDMS to expand and deform thermally. This results in a strain mismatch between the PDMS and the polyimide composite film with a low coefficient of thermal expansion, which in turn causes bending deformation. Figure 12 The actuator prepared based on this method can stably deform under different current inputs and exhibits good cycle stability. Figure 13 The material properties of laser-induced graphene will determine the deformation effect of the device, including the deformation direction guided by mechanical anisotropy and the joint deformation guided by electrical regional differences. This will enable the customization of biomimetic soft robots and actuators with free-form shape changes through combined design.

[0040] like Figure 14 As shown, the fabrication of biomimetic soft robots mainly includes four stages: requirements analysis and target definition, laser processing parameter and path design, graded laser processing and device forming, and functional application verification of the biomimetic soft robot. The specific steps are as follows: In Step 1 (S1-S2), during the requirements analysis phase, based on the functional requirements of the biomimetic soft robot (such as grasping, crawling, and navigation in narrow spaces), a "target deformation modal list" (such as multi-directional curling, local rigidity switching, and stepped bending) and "functional geometric requirements" (such as long tentacles and flat body) are customized. In the requirements analysis phase, based on the functional requirements of the biomimetic soft robot, the "macro-geometry, number of partitioned modules, and regional deformation modes" of the target device are determined. This allows for modular customization of the laser's "scribing path, defocus distance, and output power." For example, for a grasping robot mimicking octopus tentacles, the target deformation posture of the grasping robot is designed based on the working scenario of the grasping task (narrow cylindrical space, cuboid space, etc.) and the grasping target (sphere, cube, cuboid, cone, cylinder, etc.). Based on the task requirements, determine the length, width, and number of each actuator tentacle, and then clarify the geometry (strip, square, rhombus, ellipse, etc.) and size (centimeter or millimeter level) of the macroscopic components; based on the deformation postures that each tentacle needs to achieve, determine the number of partition modules inside each tentacle (one or more) and the deformation modes of each module (bending, spiral, rigid, flexible connection) (Note: DLE technology is mainly used to control the deformation modes of bending and flexible connection, while DLS technology is mainly used to control the modes of bending, spiral, and rigidity. Therefore, the multiple deformation modes of each module are achieved by combining DLE and DLS processing technologies), thereby clarifying the composition and arrangement order of all modules required for the robot.

[0041] Step 2 (S3), Parameter Design: Based on the target requirements, derive the "LIG functional layer hierarchical laser processing parameters", including DLE parameters (defocus length, power, associated resistance / heating characteristics) and DLS parameters (scribing angle, stripe spacing, associated stiffness / curling direction). At the same time, plan the laser programmable path (such as continuous scribing, partitioned scribing, matching geometry). Based on the "target deformation mode list" and "functional geometric requirements" of the robot defined in Step 1, the corresponding processing paths are drawn in CAD software (such as CorelDRAW). According to the deformation modes and deformation degree requirements of each module, line segments arranged in a row-by-row array are drawn in the software as the preset scanning path for the laser (Universal LaserSystems DLS2.3). Different colors are assigned to the corresponding path segments for subsequent recognition by the laser system software. By drawing the line segments and colors of each module in sequence, the overall shape of the robot is finally formed. The drawn CAD software is transferred to the laser software system, which automatically recognizes and generates the laser scribing path (0-360°, with adjustable orientation and combination as needed). The final processing parameters of the corresponding modules are controlled by setting the different colors of the CAD line segments to the corresponding laser output power (0-25W), speed (0-10 inch / s), and defocus distance (0-3mm).

[0042] Step 3 (S4-S7): Core hierarchical laser processing and device forming: A 50μm thick Kapton film was pasted onto the bottom of a 90μm thick polyimide paper (PolyKing, number Yilun-P-90) to provide a seal. The composite polyimide film was then placed on a laser processing platform to await laser processing. The laser processing system, following the preset parameters and paths obtained in step two above, performs "differentiated energy scribing + directional path writing" on the PI layer. This involves using DLE technology (DLE primarily controls two processing parameters: defocus distance and laser power. By performing variable focal length and power processing on the same substrate, differentiated processing energy input is achieved in different module regions, resulting in differentiated resistance within each module) to regulate the LIG carbonization degree in different regions (resistance adjustable from 8 to 261 Ω / sq). It also integrates DLS technology (DLS technology primarily controls the scribing direction of the laser. By changing the processing path direction on the substrate, the arrangement and orientation of the LIG microstructure morphology are altered, resulting in differentiated mechanical modulus within each module) to construct directional microstripes (angle -90° to 90°, stiffness adjustable from 33.4 to 103.4 MPa). Following the preset processing paths and parameters in step two, the system automatically calls upon both processing technologies to perform combined processing on the device substrate. This ultimately forms a customized LIG with specific LIG patterns and material properties. Subsequently, conductive silver paste (Jingling Co.) was coated onto the predetermined electrode area to form an ohmic contact with the copper wire. Then, a 10:1 mixed PDMS solution (SYLGARD™ 184) was spin-coated (1000 rpm, 60 seconds) onto the graphene pattern surface and subjected to thermosetting (80°C, 1 hour) to form a 100 μm thermally expandable active layer on a 140 μm LIG composite film substrate. Finally, the assembled LIG-SA was controlled by a DC power supply to achieve precise electrothermal-induced morphological changes.

[0043] Step 4 (S8) Soft Robot Functional Application Verification: Based on the requirements analysis in Step 1, verify whether the prepared biomimetic customized soft robot meets the requirements. Deploy the grasping robot or crawling robot in the corresponding application environment to conduct corresponding functional verification (such as controlling an octopus-like single-tentacle grasping robot to grasp cylindrical objects in a narrow pipe space, an octopus-like multi-tentacle grasping robot to conformally grasp spherical, cuboid, conical and more complex three-dimensional targets, a caterpillar-like crawling robot to perform bidirectional crawling motion forward and backward, and a seal-like crawling robot to perform in-situ turning motion, etc.).

[0044] The principle of DLE differentiated laser energy processing is to control the "heat input" during the carbonization process of the PI layer by coordinating the defocus length (defocus distance: 0~3.5mm) and power (8~25W) of the CO2 laser (wavelength 10.6μm). Laser heat distribution and carbonization effect, such as Figure 15 As shown, the heat from the laser follows a Gaussian distribution pattern, gradually diffusing outwards from the focal point. Therefore, during the carbonization process of polyimide materials, the distance between the focal point and the polyimide surface will lead to the formation of different microstructure morphologies, such as... Figure 16 As shown, under focused conditions (Defocus-level, DL=0mm), polyimide paper forms a distinct array-like ridge structure after multiple line-by-line linear scans. The multi-layered, high-resistance, low-carbonized protrusions result in longer conductive paths, leading to higher resistance. However, with increasing defocus distance (DL=0.5~3.5mm), the laser focusing principle processes the plane, allowing heat to diffuse over a larger area on the polyimide surface, reducing material ablation during carbonization. Multiple high-energy inputs at the same location lead to more complete carbonization, forming a flatter graphene structure, resulting in lower resistance. This difference in microstructure directly translates into macroscopic electrical / thermal properties. Graphitized LIG exhibits a wide adjustable resistance range (8~261Ω / sq) and a temperature adjustable range of 20~270℃ with a current input of 0~80mA. Furthermore, these differentiated microstructures can be seamlessly integrated in one step using the variable parameter processing capabilities of lasers. This regionalized resistance distribution provides the electrical basis for subsequent "differential heating-non-uniform deformation" (e.g., Figure 17 As shown, the laser can perform one-time processing with variable focal length in different areas of the LIG actuator, thereby forming interconnected field-shaped LIG and flat LIG microstructures respectively. Then, under the same current input, a "high-resistance heating zone" and a "low-resistance heat preservation zone" are generated in series. The relative position, length, number, and relative resistance of these two zones can be adjusted respectively, thereby realizing the control of the deformation effect of the actuator.

[0045] In DLS directional laser scribing, the laser motion platform scribes along a preset path (programmable angle -90° to 90°, stripe spacing 50 to 100 μm), forming a directional micro-stripe structure in the LIG functional layer. The stripes are aligned along the scribing angle, and the LIG sheets within the stripes grow directionally along the scribing direction. This structure determines the anisotropy of mechanical stiffness: along the stripe direction, the LIG sheets are directionally aligned, resulting in low stiffness (33.4 to 50 MPa) and easy bending; perpendicular to the stripe direction, the sheets are cross-stacked, resulting in high stiffness (80 to 103.4 MPa) and strong resistance to deformation. For example, when the scribing angle θ = 0° (along the length direction), the stiffness in the length direction is low, and it bends along the width direction after energization (straight bending mode); when θ = 45°, the stiffness in the 45° direction is low, and the resultant bending force is along the θ direction, forming directional helical deformation (helical curling mode); when θ = 90°, the stiffness in the width direction is high, and it hardly bends (rigid support mode). Through DLS path programming, “straight bending zone (θ=0°)”, “directional spiral curling zone (θ=±15°~±75°)” and “rigid support zone (θ=±90°)” can be divided on a single LIG functional layer, achieving precise integration of multiple deformation modes without the need for splicing multiple components.

[0046] The core of the biomimetic soft robot design in this application is "functional mapping of laser programmable path and deformation mode". Based on the target functional requirements, the geometry and attribute partitions of LIG-SA are first defined by laser path programming, and then complex functions such as biomimetic behavior are realized through the path collaboration of multiple LIG-SA components, without relying on traditional mechanical design or multi-material splicing.

[0047] After entering the path programming implementation stage, the material properties and deformation effects of modules corresponding to different processing parameters guide the parameter and path planning of the laser processing system. For example... Figure 18 As shown, simple strip-shaped and cross-shaped actuators can achieve a variety of complex deformation postures through customized modular combinations. By further complicating the geometry of the device, it is possible to realize customized devices that transform more complex two-dimensional precursors into three-dimensional structures.

[0048] In addition, in some embodiments, ultraviolet lasers (355nm) can be used instead of CO2 lasers to achieve more precise microstructure control of LIG layers.

[0049] Specifically, an ultraviolet laser (wavelength 355nm, spot diameter 50μm) is used to replace the original CO2 laser, maintaining the core logic of "differential energy control (replacing DLE) + directional scribing (replacing DLS)", and the LIG layer properties are controlled only by adjusting the laser wavelength and focusing parameters.

[0050] Differentiated energy control: No defocusing adjustment is required. Heat input is controlled by the synergistic control of "laser power (5~15W) + scanning speed (1~5 inch / s)" - high power (12~15W) + low speed (1~2 inch / s) corresponds to high carbonization degree (resistance 10~60Ω / sq), and low power (5~8W) + high speed (3~5 inch / s) corresponds to low carbonization degree (resistance 60~265Ω / sq). Directional scribing control: The ultraviolet laser spot is smaller (50μm), which can scribing microstripes with a spacing of 20~50μm, further expanding the stiffness control range and further improving the control accuracy of the curling direction.

[0051] Multi-attribute control: Smaller spot diameter makes the LIG layer microstripes more refined, and can inscribe "micron-level rigid support points + sub-millimeter-level curved segments" on the same substrate, adapting to smaller biomimetic soft robots (such as vascular robots with a diameter of <2mm). Multi-module integration: High-precision ultraviolet laser scribing can achieve "1mm" 2 Seamless splicing of "small modules", such as integrating 8 different functional modules (e.g., 4 support points + 2 bending segments + 2 curling segments) on a 1cm×1cm PI substrate, to meet the complex deformation requirements of micro robots. Bionic applications: Suitable for bionic soft robots for medical intervention (such as in vivo drug delivery robots), achieving "intravascular directional crawling + precise drug release" through fine microstructure control, thus fulfilling the original invention purpose.

[0052] Compared with the CO2 laser solution, the advantages are higher processing precision (micro-stripes spacing 20μm vs. 100μm of the original solution), making it suitable for miniaturization scenarios; the disadvantages are that the ultraviolet laser has a shallow penetration depth (<10μm), requiring multiple scribings to form a 5~10μm thick LIG layer, resulting in lower processing efficiency than the original solution; and it is only compatible with thin PI films, with narrower material adaptability.

[0053] Furthermore, in some embodiments, polyetheretherketone (PEEK) can be used instead of PI paper as the LIG precursor to improve high-temperature environmental adaptability. By replacing the PI paper in the original scheme with polyetheretherketone (PEEK, thickness 50~100μm), the structure of "CO2 laser grading + PDMS thermally responsive layer" is maintained, and the higher carbonization temperature of PEEK (PEEK melting point 343℃, PI melting point 380℃) is adapted only by adjusting the laser power (20~35W).

[0054] DLE control: In focus mode, PEEK carbonization produces low-graphitization LIG, with a heating temperature expected to reach a maximum of 320℃; in defocus mode, low-graphitization is produced, with a heating temperature expected to be 50~180℃. DLS control: PEEK has higher rigidity, and the stiffness range corresponding to the gradation angle of -90° to 90° is extended to 40~120MPa, and the rigid support module can withstand greater loads.

[0055] Multi-attribute control: PEEK's high-temperature stability allows LIG-SA to operate in environments above 150℃ (the original solution's upper limit was 120℃), making it suitable for biomimetic soft robots in high-temperature scenarios (such as industrial furnace inspection robots). Multi-module integration: PEEK has 30% higher mechanical strength than PI, and its seamlessly integrated "support-bending-curling" modules can withstand greater deformation forces (such as bending moment of 0.8 N·mm vs. 0.5 N·mm of the original solution), avoiding structural fracture at high temperatures; Bionic applications: For example, a high-temperature pipe crawling robot completes the "path navigation + obstacle avoidance" function of the original solution by using a "rigid support module (DLS90°) to resist high-temperature deformation, a directional curling module (DLS45°) to anchor to the pipe wall, and a straight bending module (DLS0°) to propel itself".

[0056] Compared with the PI paper solution, the advantages are strong high temperature adaptability, which can work for a long time in an environment of 150~250℃; the load capacity of the rigid support module is increased by 36%; the disadvantages are that PEEK has low carbonization efficiency (requiring 35W power vs. the original solution of 25W), and the energy consumption is 40% higher than the original solution; moreover, the cost of PEEK is twice that of PI, and the economics of mass processing are poor.

[0057] Furthermore, in some embodiments, shape memory polymers (SMPs) can be used to replace PDMS as the thermally responsive layer to achieve a dual function of "deformation-shaping". By replacing PDMS in the original scheme with shape memory polymers (SMPs, thickness 80~120μm, glass transition temperature T9=60~100℃), the logic of "CO2 laser graded processing of LIG layers" is maintained, and the shape retention after deformation is achieved through the "thermally induced shape memory effect" of SMPs.

[0058] Deformation mechanism: When the power is applied, the LIG layer is heated to above T9 of the SMP (60~100℃), the SMP softens and expands, and bends / rolls under the constraint of the stiffness of the LIG layer; when the power is turned off and cooled to below T9, the SMP solidifies and sets, and can maintain its deformed shape without continuous power supply. Recovery mechanism: When heated again to T9 or above, the SMP softens and recovers its initial shape under the elastic recovery force of the LIG layer.

[0059] Multimodal integration: SMP's shaping function allows the "support-bending-curling" module to maintain a preset shape. For example, after the octopus tentacle robot grabs an object, it can still maintain a curled state even when the power is off, without the need for continuous power supply, thus reducing energy consumption. Bionic applications: Suitable for scenarios requiring "static grasping + low power consumption" (such as high-altitude operation robots grasping parts). By "LIG layer controlling deformation direction + SMP shaping and holding", the original solution's "conformal grasping + stable operation" function is completed; and the shaping characteristics of SMP allow the robot to work in short-term scenarios without power, expanding the scope of applications.

[0060] Compared to using PDMS as the thermal response layer, the advantages are that it can achieve post-deformation shaping and reduce energy consumption by 60% (no continuous power supply required); it is suitable for static functional scenarios (such as fixed support); the disadvantage is that the thermal expansion coefficient of SMP is 1.5×10⁻⁶. -4 The curvature (at / ℃) is only 50% of that of PDMS, and the bending curvature at the same temperature is 40% lower than the original solution (e.g., 1.2cm in the original solution). -1 vs. alternative 0.7cm -1 Furthermore, the recovery process requires secondary heating, and the deformation response speed is 30% slower than the original solution.

[0061] Ultraviolet laser solutions are suitable for miniaturized medical applications, CO2 laser + PEEK solutions are suitable for high-temperature industrial applications, SMP thermal response layer solutions are suitable for low-power static applications, and "power-speed" control solutions are suitable for mass production applications.

[0062] In summary, this application has the following technical effects: 1) Solve the triangular compromise problem of "high-precision machining - high-level material programming - multimodal deformation" to meet the core requirements of free-form bionic soft robots: Existing technologies, limited by processing methods (e.g., photolithography only supports a limited number of materials, and direct ink writing has low resolution), cannot simultaneously achieve the synergy of all three, resulting in soft actuators capable of only single deformation. This invention utilizes LIG functional layer hierarchical laser processing (DLE+DLS synergy). On one hand, it leverages the micron-level precision of laser scribing (spot diameter ~100μm, positioning accuracy ±5μm) to achieve high-precision processing. On the other hand, it achieves high-level material programming by controlling the resistance (8~261Ω / sq) of DLE and the stiffness (33.4~103.4MPa) of DLS, ultimately encoding four basic deformation modes. Furthermore, these deformation modes can be flexibly combined through parameter coupling (e.g., "high resistance + 45° scribing" to achieve directional curling), breaking the performance compromises of existing technologies. This enables free-form biomimetic movements such as multi-joint bending of octopus tentacles and multi-gait crawling of seal robots, directly solving the core technical problem of "the inability to fabricate free-form biomimetic soft robots."

[0063] 2) Achieve seamless integration of multiple deformable modules, improving structural integration and deformation continuity: Existing technologies rely on the physical splicing of multiple units (such as silicone bonding), resulting in increased structural volume and easy peeling and discontinuous deformation at the splicing interface. This invention is based on laser path partitioning programming on the same substrate (such as PI paper), eliminating the need for any mechanical splicing. Only regional parameter assignments (such as "DLE defocus + 90° scribing" at the near end and "DLE focusing + 45° scribing" at the far end) are required to form a multi-module integrated structure within a single device. Simultaneously, the LIG functional layer is generated by PI carbonization and PDMS spin-coating infiltrates the LIG pores to form an "anchoring structure" without any physical interface. The deformation process achieves a smooth transition from "rigid support - straight bending - directional curling," reducing the device size to fit narrow spaces (such as 3mm gaps) and avoiding deformation interruptions caused by interface peeling, thus solving the problems of bulky structures and discontinuous deformation in existing technologies.

[0064] 3) Improve deformation stability to meet the requirements of long-term cyclic use: Existing technologies, due to multi-unit splicing or physical bonding (such as simple bonding of PDMS and LIG), suffer from high deformation accuracy errors and low resistance drift rates after multiple cycles. This invention ensures stability through two aspects: first, seamless integration of multiple modules without splicing interfaces eliminates the risk of interlayer delamination; second, integrated generation of LIG and PI, and pore anchoring of PDMS and LIG, improves interface bonding strength. Actual testing shows that after 100 cycles, the bending curvature error of the LIG-SA of this invention is <5%, and the resistance drift rate is <0.01% / cycle, which is superior to existing technologies, solving the problem of poor deformation stability and meeting the long-term working requirements of biomimetic soft robots (such as continuous crawling for 30 minutes).

[0065] 4) Shorten the design cycle and improve the efficiency of customizing biomimetic soft robots: Existing technologies rely on iterative processes of "processing-testing-trial and error," resulting in long design cycles (e.g., 2-3 weeks for complex robots). This invention combines a force-thermal-electric coupling finite element analysis model, allowing input of laser processing parameters (such as DLE defocusing length and DLS marking angle) and module combination methods to accurately predict the device's temperature field, strain field, and final deformation effect. For example, when designing a seal robot, model simulation can directly determine the forelimb marking angle of 45° and the hindlimb marking angle of 0°, eliminating the need for repeated processing and testing, significantly shortening the design cycle. While ensuring the flexibility of "customizable combination of arbitrary modules," it solves the problem of low design efficiency in existing technologies.

[0066] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0067] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A biomimetic soft robot, characterized in that, The bionic soft robot comprises: a carbon precursor layer composed of polyimide paper; an LIG functional layer formed on the carbon precursor layer by hierarchical laser processing; the LIG functional layer has a regionalized resistance distribution regulated by differential laser energy processing and a regionalized rigidity distribution regulated by directional laser scribing; a Kapton tape substrate layer pasted at the bottom of the carbon precursor layer; electrodes arranged at predetermined regions of the LIG functional layer; a PDMS thermal expansion layer spin-coated on the surface of the LIG functional layer; the electrodes are encapsulated between the LIG functional layer and the PDMS thermal expansion layer; wherein the range of the regionalized resistance distribution is 8-261 Ω / sq, and the range of the regionalized rigidity distribution is 33.4-103.4 MPa.

2. The soft-bodied robotic device of claim 1, wherein, The LIG functional layer is encoded to form straight-bending basic deformation modules, directional spiral curling basic deformation modules, rigid support basic deformation modules and flexible connection basic deformation modules through the time sequence cooperation of differential laser energy processing and directional laser scribing. The straight-bending basic deformation modules, the directional spiral curling basic deformation modules, the rigid support basic deformation modules and the flexible connection basic deformation modules are programmed to generate a multi-module integrated structure through laser path partitioning.

3. The soft-bodied robotic creature of claim 2, wherein, The straight-bending basic deformation modules are realized by scribing at an angle θ=0°, the directional spiral curling basic deformation modules are realized by scribing at an angle θ=15°-75° or θ=-15°-75°, and the rigid support basic deformation modules are realized by scribing at an angle θ=90° or θ=-90°.

4. The soft-bodied robotic creature of claim 3, wherein, The bionic soft robot is specifically an octopus tentacle type grabbing robot; the LIG functional layer of the octopus tentacle type grabbing robot is programmed as a proximal rigid support module, a middle multi-joint bending module and a distal spiral curling module.

5. The biomimetic soft robotic device of claim 4, wherein, The bionic soft robot is specifically a caterpillar type crawling robot; the caterpillar type crawling robot comprises a forelimb LIG-SA assembly and a hindlimb LIG-SA assembly; the forelimb LIG-SA assembly and the hindlimb LIG-SA assembly are realized to bend and deform through directional laser scribing at an angle θ=0°.

6. The soft-bodied robotic creature of claim 5, wherein, The bionic soft robot is specifically a seal type crawling robot; the seal type crawling robot comprises a pair of limb units processed by scribing at an angle θ=45° and a rear unit processed by scribing at an angle θ=90°; the limb units are used to present alternating spiral curling movements; and the rear unit is used to realize the stability of the seal type crawling robot.

7. A method of preparing a bio-inspired soft robotic device, comprising: The method comprises: acquiring the functional requirements of the bionic soft robot; the functional requirements include grabbing, crawling and narrow space navigation; determining a target deformation mode list and functional geometric requirements according to the functional requirements of the bionic soft robot; determining laser scanning paths, differential laser energy processing parameters and directional laser scribing parameters based on CAD software according to the target deformation mode list and the functional geometric requirements; performing differential laser energy processing and directional laser scribing on the polyimide paper substrate based on the laser scanning paths to obtain an LIG functional layer with predetermined resistance and rigidity distribution; applying conductive silver paste on predetermined regions on the LIG functional layer to form ohmic contact with copper wires; After pouring the PDMS solution on the LIG functional layer, the LIG functional layer is placed on a spin coater to set the rotation speed for uniform spin coating to obtain a PDMS thermal expansion layer covered LIG functional layer; the PDMS solution is obtained by mixing monomers and curing agents in a set ratio; After the PDMS thermal expansion layer covered LIG functional layer is subjected to thermal curing treatment, it is cut according to the geometric edges of the laser-induced graphene to obtain a bionic soft robot sample; According to the functional requirements of the bionic soft robot, the bionic soft robot sample is subjected to an energization test to verify whether the bionic soft robot sample meets the preset target deformation mode; if not, the differential laser energy processing parameters and directional laser scribing parameters are adjusted, and the bionic soft robot sample is prepared and tested again until the requirements are met; if so, a finished bionic soft robot is obtained.

8. The method of claim 7, wherein the method further comprises: The differential laser energy processing parameters include the defocusing distance and the laser power, which are used to control the carbonization degree of LIG by cooperatively adjusting the defocusing distance and the laser power to realize resistance regulation; the directional laser scribing parameters include the scribing angle and the stripe spacing, which are used to control the LIG microstripe orientation by adjusting the scribing angle and the stripe spacing to realize stiffness anisotropy regulation.

9. The method of claim 7, wherein the method further comprises: Based on the laser scanning path, differential laser energy processing and directional laser scribing are performed on a polyimide paper substrate to obtain a LIG functional layer with a predetermined resistance and stiffness distribution, specifically including: A Kapton film is pasted at the bottom of the polyimide paper to form a polyimide paper substrate; Based on the laser scanning path, the polyimide paper substrate is processed by a CO2 laser to obtain a LIG functional layer with a predetermined resistance and stiffness distribution; wherein the differential laser energy processing realizes resistance value regulation in different regions by adjusting the defocusing distance and the laser power, and the directional laser scribing realizes stiffness regulation in different regions by adjusting the scribing angle.

10. The method of claim 7, wherein the method further comprises: After pouring the PDMS solution on the LIG functional layer, the LIG functional layer is placed on a spin coater to set the rotation speed for uniform spin coating to obtain a PDMS thermal expansion layer covered LIG functional layer, specifically including: The monomers and the curing agent are mixed in a ratio of 10:1 to obtain a PDMS solution; The PDMS solution is poured into the LIG functional layer, and the LIG functional layer is placed on a spin coater to spin coat the LIG functional layer at a rotation speed of 1000 rpm for 60 seconds, and then heated and cured at 80°C for 1 hour to form a PDMS thermal expansion layer with a thickness of 100μm. The monomers and the curing agent are mixed in a ratio of 10:1 to obtain a PDMS solution; The PDMS solution is poured into the LIG functional layer, and the LIG functional layer is placed on a spin coater to spin coat the LIG functional layer at a rotation speed of 1000 rpm for 60 seconds, and then heated and cured at 80°C for 1 hour to form a PDMS thermal expansion layer with a thickness of 100μm.

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