160 results about "Liquid crystal elastomer" patented technology

The invention discloses a high-strength and high-toughness liquid crystal elastomer and a preparation method and application thereof.The preparation method of the high-strength and high-toughness liquid crystal elastomer comprises the step that a sulfydryl-terminated liquid crystal oligomer, a rigid chain extender and a cross-linking agent react in the presence of a first catalyst and an optional first solvent, the high-strength and high-toughness liquid crystal elastomer is obtained. According to the high-strength and high-toughness liquid crystal elastomer disclosed by the invention, an effective solution is provided for realizing high strength and high toughness of the liquid crystal elastomer by introducing the rigid chain extender and a polyurethane structure hydrogen bond; the modulus and tensile strength of the liquid crystal elastomer are remarkably improved by a benzene ring rigid structure of the isocyanate-terminated chain extender; the multiplication of the hydrogen bond of the chain extender improves the strength of the material at room temperature on one hand, and on the other hand, the hydrogen bond is used as a sacrifice bond, an additional toughening mechanism is introduced again, and the liquid crystal elastomer has high strength and high toughness under the synergistic effect of multiple factors.

The invention provides an intelligent response liquid crystal elastomer and a preparation method thereof, and belongs to the field of liquid crystal elastomer preparation.The preparation method comprises the steps that a liquid crystal monomer, a cross-linking agent, a photoinitiator and a catalyst are dissolved in an organic solvent to obtain a mixed solution, then the mixed solution is injected into a template for primary cross-linking, and after fiber forming, the mixed solution is taken out and dried to obtain P-LCE fibers; the P-LCE fibers are subjected to drafting treatment and then soaked in a silica gel solution, then suspended and left to stand, and after the silica gel solution wrapping the surfaces of the fibers is dried and cured, secondary cross-linking is conducted to obtain the LCEP. The intelligent response liquid crystal elastomer prepared by the invention presents spiral curling shrinkage deformation under thermal stimulation, the shrinkage rate is large, the response rate is high, the deformation is reversible, and the shrinkage rate is almost unchanged after 100 times of cyclic stimulation.

The invention discloses a high-strength and high-toughness lignin-based liquid crystal elastomer as well as a preparation method and application thereof. A liquid crystal unit is subjected to hydroxyl end-capping modification and then reacts with a high-activity chain extender isocyanate to prepare a liquid crystal-polyurethane prepolymer, and finally the liquid crystal-polyurethane prepolymer is crosslinked with low-molecular-weight lignin, so that the lignin-based liquid crystal elastomer is prepared through a one-pot two-step method. According to the invention, a preparation system of a conventional liquid crystal elastomer by utilizing Michael addition polymerization is changed, a natural microphase separation structure and a strong intermolecular interaction force of polyurethane are utilized, and meanwhile, lignin with good compatibility with a liquid crystal unit is introduced as a covalent cross-linking agent, so that the mechanical properties of the liquid crystal elastomer are greatly improved. The prepared lignin-based liquid crystal elastomer is high in strength and toughness, can be repeatedly processed and utilized, has an ultraviolet aging resistance function and a shape memory function, and overcomes the problem that a traditional liquid crystal elastomer is poor in mechanical property.

The invention belongs to the field of intelligent materials, and discloses a nematic phase liquid crystal elastomer fiber and a method for optimizing the thermal shrinkage performance of the nematic phase liquid crystal elastomer fiber. According to the method, the mass ratio of a cross-linking agent pentaerythritol tetra (3-mercaptopropionate) (PETMP) to a chain extender 2, 2 '-[1, 2-ethanediyl bis (oxygen)] bis (ethanethiol) (EDDET) in an LCE spinning solution is accurately controlled through a wet spinning technology, and drafting and heat treatment processes are combined, so that the LCE fiber with adjustable and controllable heat shrinkage performance and mechanical performance is prepared. The invention aims to overcome the limitations of low response speed, low shrinkage rate, insufficient environmental stability and the like of the existing LCE fiber. The reversible thermal shrinkage rate of the fiber can reach up to 35%, the maximum shrinkage deformation can be completed within 2 seconds at the soonest at the temperature of 80 DEG C, and the maximum tensile strength can reach 170 MPa. And the catalyst has excellent oxidation stability (the mass retention rate is about 97%), and can maintain efficient thermal response in a water environment. And a new way is provided for development of high-performance intelligent materials.

The invention discloses an intelligent purification coating with a bionic pulmonary membrane type respiratory metabolism function. The intelligent purification coating comprises a sensing and adsorption layer, a driving and transportation layer and a catalysis and metabolism unit, the sensing and adsorption layer is composed of a chemical heterojunction network formed by two-dimensional transition metal carbonitride MXene and a zeolite imidazate framework structure material through an in-situ coordination reaction of metal ions and hydroxyl groups on the surface of MXene; the driving and transporting layer takes a cross-linked liquid crystal elastomer network as an intelligent response matrix, and high-length-diameter-ratio magnetic ferroferric oxide nanorods of which the surfaces are modified by a silane coupling agent are uniformly dispersed and embedded into the matrix; and the catalysis and metabolism layer is anchored on a preset key mass transfer path in the driving and transporting layer in a discrete metabolism island form. According to the coating, various volatile organic compounds (VOCs) and enzyme-light synergistic deep mineralization can be realized under mild conditions, and the energy metabolism function of mitochondria can be accurately simulated.

The invention relates to the technical field of multi-degree-of-freedom motion platforms, in particular to a multi-mode self-oscillation three-line pendulum platform based on CD-ROM liquid crystal elastomer fibers, which comprises a bottom plate, a bracket is mounted at the top of the bottom plate, a motion platform assembly is mounted on the bracket, and an infrared laser is mounted on the bottom plate; the motion platform assembly comprises an upper suspension disc, a lower suspension disc and LCE fibers, the upper suspension disc is fixedly connected with the support, the upper suspension disc and the lower suspension disc are connected through the LCE fibers, the upper suspension disc and the lower suspension disc are identical circular flat plates, the two ends of the three LCE fibers are installed on the side lines of the upper suspension disc and the lower suspension disc respectively, the lengths of the three LCE fibers are identical, and the length of the LCE fibers is equal to that of the LCE fibers. And the three LCE fibers are parallel to one another. The technical problems that an existing multi-degree-of-freedom motion platform depends on a complex mechanical structure or electromagnetic control, the size is large, energy consumption is high, driving can only be achieved through contact and the like are solved, and the existing multi-degree-of-freedom motion platform is difficult to be suitable for the fields of miniaturization, electromagnetic interference resistance and non-contact driving.

The invention discloses a flexible actuator integrating driving, sensing and rigidity changing and a manufacturing and driving method of the flexible actuator. The actuator adopts a three-layer composite structure: a driving layer is composed of a liquid crystal elastomer and can generate reversible deformation in response to light or thermal stimulation; the variable stiffness layer is composed of a polydopamine modified stiffness adjustable polymer, and active switching of stiffness and deformation locking can be achieved through thermal regulation and control; the sensing layer is composed of a multi-walled carbon nanotube grid, can be integrally formed with the driving layer, and monitors self deformation in real time by transmitting resistance signals; the actuator is obtained by compounding the three layers; the driving method comprises repeated heating and cooling so that the actuator can be bent, fixed and restored. Through cooperation of the three functional layers, unification of optical / thermal multi-mode driving, real-time self-sensing and active deformation locking is achieved, an actuator can lock any middle deformation state by regulating and controlling the cooling rate, and the optical / thermal multi-mode driving device has the advantages of being diverse in driving mode, high in deformation controllability and low in energy consumption.

The invention relates to the technical field of intelligent materials and structural dynamics, solves the technical problems that an existing tumbler structure is lack of self-continuous motion ability and depends on external energy, and particularly relates to a light-driven liquid crystal elastomer tumbler and a nonlinear dynamics control method thereof. Self-continuous swinging under illumination of certain intensity is realized by utilizing light response design of the liquid crystal elastomer and coupling of nonlinear restoring force, and application is performed by utilizing regular movement of the liquid crystal elastomer. The tumbler structure can generate a state alternating process from swinging out of an illumination area to swinging back to the illumination area under the condition of specific light source intensity, and the change amplitude of standing and inclining alternation can be changed by adjusting illumination parameters. According to the tumbler structure, the limitation problem of a traditional tumbler can be solved, the tumbler structure can achieve self-continuous movement under the condition that the tumbler structure does not depend on external periodic stimulation, and the application of the tumbler structure is expanded.

The invention belongs to the technical field of all-solid-state batteries, and particularly relates to a liquid crystal elastomer-containing sulfide solid-state battery and a preparation method thereof. The sulfide solid-state battery comprises an electrode membrane and an electrolyte membrane, and the electrode membrane is prepared by mixing a liquid crystal elastomer serving as a binder with an electrode material through a dry method; and / or the electrolyte membrane is prepared by mixing a liquid crystal elastomer serving as a binder with a sulfide solid electrolyte through a dry method; the liquid crystal elastomers are the same or different and are prepared from liquid crystal functional monomers containing at least one unsaturated bond and polymeric monomers containing unsaturated double bonds through free radical polymerization; or the liquid crystal functional monomer containing at least one unsaturated bond and a polymeric monomer containing sulfydryl or amido are subjected to sulfur-alkene reaction or Michael addition reaction. In the preparation process of the sulfide solid-state battery, a solvent is not needed, and the sulfide solid-state battery has important significance of energy conservation, emission reduction and environmental protection.

The invention discloses a large-driving-force liquid crystal elastomer composite artificial muscle belt and a manufacturing method and application thereof. The preparation method comprises the following steps: reacting a mixed reaction system containing a liquid crystal monomer, a chain extender, a cross-linking agent, a photoinitiator, a catalyst and a nano material to prepare a composite oligomer; and placing the composite oligomer in a mold, removing the solvent, and then carrying out stretching and cross-linking treatment to obtain the liquid crystal elastomer composite artificial muscle band with large driving force. The composite artificial muscle belt can achieve linear contraction under thermal stimulation, and large thrust can be generated in the recovery process; meanwhile, the composite artificial muscle belt can achieve large driving force output without being assembled by an artificial muscle fiber bundle, and the technical problem caused by the fact that a plurality of artificial muscle fiber bundles are assembled to achieve contraction force amplification is solved.

The invention relates to the technical field of flexible sensors, and particularly discloses breathable ion skin which comprises water, a polymer, a liquid crystal and a conductive ion active substance. The material with unique soft elasticity is prepared by combining the orderly-oriented liquid crystal material and the polymer elastomer, the excellent adhesion stability can be kept under the cyclic load, and the stripping interface toughness is high. The composite fiber membrane of a liquid crystal elastomer core-ion skin shell structure is prepared through coaxial electrostatic spinning, the liquid crystal elastomer core provides good structural stability and adhesion stability, the ion skin shell provides good signal detection capacity, and meanwhile, the porous membrane structure prepared through electrostatic spinning has the ultrahigh water vapor permeability and can be used for preparing the composite fiber membrane of the liquid crystal elastomer core-ion skin shell structure. Sweat generated at the contact site of the ion skin and the human skin can be quickly volatilized, sweat accumulation is reduced, and the human skin does not have inflammatory response after the ion skin is worn for a long time.

The invention discloses a liquid crystal elastomer structure multi-objective optimization method based on depth evolution mapping. According to the method, by constructing a mapping model from individual features to operator parameters, an optimization algorithm can adaptively adjust the intensity of crossover and mutation operations according to the position, fitness ranking and neighborhood features of each candidate solution in a search space, so that the local refining effect is enhanced while the global exploration capability is kept. Compared with an existing parameter adjusting method based on a unified parameter strategy or population statistics, the method has the advantage that self-adaptive optimization of an individual level is realized. The method belongs to the cross technical field of computational material science, intelligent optimization algorithms and structural design, can be applied to the performance optimization problem of intelligent material systems such as soft robot drivers, artificial muscles and flexible sensors, and can also be popularized to other engineering design scenes involving high-dimensional parameter space and multi-target tradeoff.

The application provides a preparation method of a liquid crystal elastomer foam doped with boron nitride, comprising the following steps: 1) preparation of a NaCl salt template; 2) preparation of a liquid crystal elastomer monomer solution: a liquid crystal elastomer monomer solution is prepared by adding a sufficient amount of a toluene solution into 1,4-bis-[4-(3-acryloyloxypropoxy)benzoyloxy]-2-methyl benzene RM257 as a liquid crystal unit; 3) formation of a liquid crystal elastomer network; 4) preparation of a pre-crosslinked liquid crystal elastomer foam; 5) deformation programming of the liquid crystal elastomer foam: the pre-crosslinked liquid crystal elastomer foam is placed into the template for constant compression, and secondary crosslinking is performed using ultraviolet light under the constant compression state to form a secondary crosslinking network; at this time, the liquid crystal elastomer foam has a thermoreversible deformation characteristic, which is manifested as expansion at a temperature rise and shrinkage at a temperature drop, and the process cycle is reversible; and 6) preparation of a liquid crystal elastomer / heat-conducting BN composite foam.

The present invention discloses a reversible intelligent thermal switch device. An adhesive thermal interface material layer forms a heat conduction path between highly thermally conductive films. A liquid crystal elastomer foam layer expands with increasing temperature and contracts with decreasing temperature, enabling the device to autonomously switch between high and low thermal conductivity levels at different temperatures. The liquid crystal elastomer foam layer serves as an interface control layer, leveraging its large deformation capacity to control the in-plane thermal conductivity of the highly thermally conductive films. Combined with the adhesive thermal interface material layer, this improves the device's thermal switching ratio.

The invention discloses a stealth coating material for aviation aircrafts. According to the invention, a three-layer composite structure design is adopted; the intelligent sensing layer is composed of graphene quantum dots and a piezoelectric nanofiber composite network, so that real-time sensing of electromagnetic wave signals is realized; the tunable metamaterial layer comprises a liquid crystal elastomer matrix and nickel-titanium alloy nanowires dispersed in the liquid crystal elastomer matrix, and electromagnetic parameters of the material are dynamically adjusted by applying an electric field or a temperature field; vanadium dioxide nanoparticles, a photonic crystal structure and carbon nanotube aerogel are integrated in the multispectral stealth layer, and radar, infrared and visible light multispectral synergistic stealth is achieved. The coating is further integrated with a microencapsulation repairing agent and an intelligent control system, and has the self-repairing and self-adaptive adjusting functions. Compared with the prior art, 0.1-40 GHz ultra-wide frequency band radar wave absorption is achieved, the radar cross section is reduced by 25-30 dB, the infrared radiation characteristic is reduced by 80% or above, the surface density is only 1.2-1.5 kg / m, the weight is reduced by 65% compared with a traditional coating, and a key material technical support is provided for a new generation of stealth aircrafts.

The present invention relates to the field of aerostat technology, resolving the technical issues of traditional optical drive control design methods, which have significant limitations on their scope of application. In particular, the invention relates to a control method for an aerostat and an autonomously moving aerostat. The control method includes filling an independent air chamber with a low-density gas, causing the aerostat to float autonomously in the air; establishing a control equation for controlling the autonomous motion of the aerostat by controlling light intensity; placing the aerostat floating in the air within an illuminated area; and autonomously controlling the aerostat to advance in a predetermined direction based on the control equation. The present invention utilizes the deformation properties of liquid crystal elastomers to simplify the optical drive control system, thereby achieving a lightweight aerostat without the need for fuel or a controller. The aerostat can utilize photothermal energy to achieve long-term autonomous flight, adapting to complex and diverse application scenarios.

The invention discloses a conductive particle reinforced elastomer self-sensing driver which comprises a liquid crystal elastomer matrix and conductive particles, the conductive particles form a continuous or semi-continuous conductive network in the matrix, and the invention relates to the technical field of soft robot driving and intelligent materials. According to the conductive particle reinforced elastomer self-sensing driver and the preparation method thereof, the conductive particles serve as a heating element and a sensing element at the same time, an external temperature sensor or displacement sensor is not needed, the system structure is greatly simplified, resistance feedback directly corresponds to a deformation state, heat conduction delay is bypassed, and intelligent compensation is conducted in combination with a neural network. The conductive particles are uniformly distributed, the local hot spot problem of the resistance wire is avoided, the conductive particles and the LCE substrate are physically / chemically combined, no mechanical interface exists, compared with an embedded metal wire, the conductive particles have relatively small influence on the rigidity of the LCE, excellent flexibility is kept, and the LCE is suitable for the face of an expression robot and other applications needing to be attached to the skin.

The invention discloses a wheel diameter adjustable trolley with sensing-deformation composite spokes and a control method. Each wheel of the trolley is composed of a wheel axle and a plurality of wheel spokes distributed in a circumferential array mode, and the wheel spokes are of a three-layer composite structure: a driving layer composed of a liquid crystal elastomer is responsible for generating deformation under thermal stimulation; the rigidity-variable layer formed by a rigidity-adjustable polymer realizes hardening locking through ultraviolet irradiation, and realizes reversible adjustment of rigidity through heating; the sensing layer is formed by a multi-walled carbon nanotube grid, can be integrally formed with the driving layer and is used for monitoring the wheel diameter change in real time; according to the control method, the trolley can be switched between the high obstacle crossing ability of the large wheel form and the high load stability of the small wheel form. According to the method, the motion performance under the complex terrain is remarkably improved, and the method has wide application prospects in the field of adaptive mobile robots.

The application discloses a kind of multi-modal programmable artificial muscle unit based on composite fiber, including flexible skeleton, axial artificial muscle fiber, oblique artificial muscle fiber and circumferential artificial muscle fiber;Multiple axial artificial muscle fibers are uniformly distributed on the flexible skeleton in a circle, and in the natural state, axial artificial muscle fibers are parallel to the axial direction of artificial muscle unit;Multiple oblique artificial muscle fibers are uniformly distributed on the circumferential direction of flexible skeleton in a circle, and in the natural state, there is an angle between oblique artificial muscle fibers and the axial direction of artificial muscle unit;Two circumferential artificial muscle fibers are respectively around the upper and lower ports of flexible skeleton;Artificial muscle fiber is composed of liquid crystal elastomer and superfine liquid metal inner core embedded in liquid crystal elastomer.It realizes multi-modal deformation in artificial muscle unit, liquid metal forms structure continuous, scale uniform conductive channel in the fiber, improves current distribution uniformity, avoids local overheating out-of-control phenomenon.

The phase-patterned liquid crystal elastomer according to an embodiment of the present invention includes: a first region including liquid crystals; and a second region which is adjacent to the first region, includes liquid crystals, and includes a phase different from that of the first region.

An electrothermally driven artificial muscle fiber based on a liquid crystal elastomer. The overall mechanical strength of the fiber is improved without affecting the driving performance thereof, can be driven quickly and precisely, and has quick response characteristics. The electrothermally driven liquid crystal elastomer artificial muscle has high sensitivity, large actuation strain and high output force, can achieve a maximum actuation strain of 60% within 0.3s, and has a large driving force while satisfying a large actuation stroke, such that the electrothermally driven liquid crystal elastomer artificial muscle has broad research prospects in the fields of flexible electronics, soft robotics and rehabilitation therapy. The preparation method for the electrothermally driven artificial muscle fiber based on a liquid crystal elastomer involves a simple preparation process and easy operations, and can be mass-prepared.

A composite material comprising multiple particles scattered within an elastomer, wherein the elastomer is an authetic-oriented nematic liquid crystal elastomer. Another composite material comprising a first outer layer, a second outer layer, and an intermediate layer between the first and second outer layers, wherein the intermediate layer comprises an authetic-oriented nematic liquid crystal elastomer.

The present invention relates to the technical field of light-driven structure design, which solves the technical problem that traditional burst structures stop after a single burst and need to rely on manual or electrical signal triggering to reset, making it difficult to achieve continuous autonomous action. In particular, it relates to a self-excited burst light-driven structure and its self-control method, and the light-driven structure includes a protective shell, a control component, and a fixing part. The liquid crystal elastomer sheet in the composite sheet has a photothermal response characteristic, and when subjected to external photothermal stimulation, it will shrink and deform, driving the free end of the composite sheet to bend to one side and enter the non-illuminated area, and then dissipate heat to recover and re-enter the illuminated area to achieve a self-sustaining process. The present invention can maintain an autonomous, multiple, and continuous burst process under constant light stimulation, and has the advantages of simple structure, sensitive response, and energy self-sustaining. It provides a new solution for the development of efficient and autonomous light-driven burst devices, showing greater research value and application potential.

The application discloses a high-toughness semi-interpenetrating network liquid crystal elastomer with low phase transition temperature and a preparation method and application thereof, and belongs to the technical field of liquid crystal elastomers and intelligent polymer materials. The preparation method comprises the following steps: after linear liquid crystal polyurethane, liquid crystal polymerizable monomers, dithiol, polythiol, a photoinitiator and a thermal catalyst are blended and dissolved, a precursor solution is obtained by mixing the linear liquid crystal polyurethane, a pre-crosslinked film is obtained through thermal crosslinking, and then a free radical polymerization reaction is carried out on the pre-crosslinked film under the condition of mechanical stretching and using ultraviolet light irradiation, so that the high-toughness semi-interpenetrating network liquid crystal elastomer with low phase transition temperature is obtained. According to the application, the semi-interpenetrating network is constructed, so that the flexible long chain of the polymer can effectively dissipate mechanical energy through slippage when being stressed, and the breaking toughness of the material is greatly improved. Meanwhile, the phase transition energy barrier is effectively reduced through the regulation of the liquid crystal monomers, and the elastomer is endowed with the ability to realize large-strain reversible deformation under extremely low thermal stimulation (such as physiological temperature) and extremely excellent actuating function.

The application discloses a kind of based on liquid crystal elastomer photothermal response photocatalysis / reflection rotary drive device, belong to flexible photothermal drive intelligent material and photocatalysis / photo reflection function device cross technical field.This device includes vane matrix, pulley, photothermal response drive component and fixer.The vane matrix one side load photocatalytic film, the other side load light reflection film;The pulley is fixed in vane matrix end, linear shrinkage force is converted into rotary moment, realizes vane directional rotation;The photothermal response drive component is graphene doped liquid crystal elastomer, under sunlight, light absorption heating shrinkage, pull pulley and drive vane 90 ° directional overturn, when there is no sunlight, elastomer resets, vane restores initial state, complete photocatalytic film and light reflection film non-contact automatic switching.This application does not need external energy input, only rely on solar drive, response is fast, service life is long, set photocatalytic degradation and radiation cooling double function in one, applicable to open environment photocatalytic purification and radiation cooling self-adapting function switching.

Liquid Crystal Elastomer (LCE) fibers, an apparatus for manufacturing, and a method for using the apparatus are provided. LCE fibers formed from each of a plurality of resin recipes can undergo reversible temperature driven actuation of the fiber. Each of the resin recipes forms a fiber having a different actuation temperature. The apparatus includes: an extrusion device, a drawing bobbin, a coating basin, a collector bobbin, a first plurality of curing devices, and a second plurality of curing devices, to transform a resin recipe into a LCE fiber. In operation, the extrusion device extrudes the resin through to the first plurality of curing devices for a partial cure. Once in contact with drawing bobbin the resin is coated in a fluid, and then pull through the second plurality of curing devices for a final cure by collector bobbin, where it can be collected and post-processed.

The present application relates to a liquid crystal elastomer microstructure preparation method based on photopolymerization phase separation, the method comprising S1, for a first liquid crystal cell with a specified thickness, filling a mixture of photopolymer monomers and liquid crystals between the first substrate and the second substrate of the first liquid crystal cell, the first substrate being a substrate without an alignment layer, and the second substrate being coated with an alignment layer; S2, covering a gray-tone mask on the first surface of the first substrate of the first liquid crystal cell; the first surface of the first substrate being the surface away from the mixture; S3, performing ultraviolet exposure on the gray-tone mask to separate the photopolymer monomers and the liquid crystals, and obtaining a composite structure; S4, based on a pre-configured liquid crystal elastomer prepolymer, processing the composite structure according to a preset liquid crystal elastomer microstructure preparation strategy, and obtaining a liquid crystal elastomer microstructure. The liquid crystal elastomer microstructure film prepared by the method has a thickness ranging from several microns to tens of microns, good alignment, and simple manufacturing process, low cost and high precision.

damping device (40) for an optical system, in particular a projection optic (10) of a lithography system (1), comprising - a supporting, first element (42), in particular a support frame (34) for receiving at least one optical element (36); - a second element (50) incorporated in the first element (42), in particular the optical element (36); and - at least one damping element (38) arranged between the first element (42) and the second element (50), in particular a mechanical end stop, wherein the damping element (38) has a liquid crystalline elastomer (48) with viscoelastic damping properties.

The invention discloses an artificial muscle belt, a multi-channel continuous preparation method and a multi-channel continuous preparation device. The multi-channel continuous preparation method of the artificial muscle band comprises the following steps: feeding an artificial muscle precursor material into a first rolling orientation device, and processing the artificial muscle precursor material to form a film-shaped base material with a preliminary orientation structure; the film-shaped base material is fed into a second rolling orientation device to be drafted, the roller linear speed of the second rolling orientation device is larger than that of the first rolling orientation device, meanwhile, in the drafting process of the film-shaped base material, the film-shaped base material is subjected to cross-linking curing treatment through a cross-linking curing device, and a cured film with a target orientation structure is obtained; and cutting the cured film into at least two independent artificial muscle bands. According to the device based on the differential rolling drafting orientation and rolling cutting method, multi-channel controllable continuous preparation of the liquid crystal elastomer artificial muscle belt can be achieved, and powerful support is provided for practical application of an artificial muscle driver.

The invention provides a self-sensing driver based on thermoelectric fiber intrinsic integration, a closed-loop control method of the self-sensing driver and a soft grabbing device, and belongs to the technical field of soft robot driving and control. The device comprises a liquid crystal elastomer deformation layer which is used for generating programmable contraction or bending deformation after being heated; the driving-sensing coplanar layer is arranged below the liquid crystal elastomer deformation layer in a stacked mode, the heating-sensing coplanar layer is arranged below the liquid crystal elastomer deformation layer in a stacked mode, and the polyimide constraint bottom layer is arranged below the driving-sensing coplanar layer in a stacked mode and used for limiting the single-degree-of-freedom deformation direction; and the closed-loop control unit is used for receiving the thermoelectric force signal generated by the heating-sensing coplanar layer and dynamically adjusting the input voltage of the snake-shaped patterned conductive polymer driving film in the heating-sensing coplanar layer. The method successfully solves the three core problems of mechanical mismatch, temperature drift interference and insufficient open-loop control precision in the field of soft robots.