WO2022194124A1 - 一种光驱致动的人工肌肉材料及其制备方法和应用 - Google Patents

一种光驱致动的人工肌肉材料及其制备方法和应用 Download PDF

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WO2022194124A1
WO2022194124A1 PCT/CN2022/080834 CN2022080834W WO2022194124A1 WO 2022194124 A1 WO2022194124 A1 WO 2022194124A1 CN 2022080834 W CN2022080834 W CN 2022080834W WO 2022194124 A1 WO2022194124 A1 WO 2022194124A1
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artificial muscle
optical
muscle material
drive
preparing
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PCT/CN2022/080834
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English (en)
French (fr)
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刘宇清
李兴兴
方剑
潘志娟
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南通纺织丝绸产业技术研究院
苏州大学
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Publication of WO2022194124A1 publication Critical patent/WO2022194124A1/zh

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    • D—TEXTILES; PAPER
    • D02—YARNS; MECHANICAL FINISHING OF YARNS OR ROPES; WARPING OR BEAMING
    • D02G—CRIMPING OR CURLING FIBRES, FILAMENTS, THREADS, OR YARNS; YARNS OR THREADS
    • D02G3/00—Yarns or threads, e.g. fancy yarns; Processes or apparatus for the production thereof, not otherwise provided for
    • D02G3/44—Yarns or threads characterised by the purpose for which they are designed
    • D02G3/448—Yarns or threads for use in medical applications
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01D—MECHANICAL METHODS OR APPARATUS IN THE MANUFACTURE OF ARTIFICIAL FILAMENTS, THREADS, FIBRES, BRISTLES OR RIBBONS
    • D01D5/00—Formation of filaments, threads, or the like
    • D01D5/0007—Electro-spinning
    • D01D5/0015—Electro-spinning characterised by the initial state of the material
    • D01D5/003—Electro-spinning characterised by the initial state of the material the material being a polymer solution or dispersion
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01F—CHEMICAL FEATURES IN THE MANUFACTURE OF ARTIFICIAL FILAMENTS, THREADS, FIBRES, BRISTLES OR RIBBONS; APPARATUS SPECIALLY ADAPTED FOR THE MANUFACTURE OF CARBON FILAMENTS
    • D01F1/00—General methods for the manufacture of artificial filaments or the like
    • D01F1/02—Addition of substances to the spinning solution or to the melt
    • D01F1/10—Other agents for modifying properties
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01F—CHEMICAL FEATURES IN THE MANUFACTURE OF ARTIFICIAL FILAMENTS, THREADS, FIBRES, BRISTLES OR RIBBONS; APPARATUS SPECIALLY ADAPTED FOR THE MANUFACTURE OF CARBON FILAMENTS
    • D01F6/00—Monocomponent artificial filaments or the like of synthetic polymers; Manufacture thereof
    • D01F6/88—Monocomponent artificial filaments or the like of synthetic polymers; Manufacture thereof from mixtures of polycondensation products as major constituent with other polymers or low-molecular-weight compounds
    • D01F6/94—Monocomponent artificial filaments or the like of synthetic polymers; Manufacture thereof from mixtures of polycondensation products as major constituent with other polymers or low-molecular-weight compounds of other polycondensation products
    • D—TEXTILES; PAPER
    • D02—YARNS; MECHANICAL FINISHING OF YARNS OR ROPES; WARPING OR BEAMING
    • D02G—CRIMPING OR CURLING FIBRES, FILAMENTS, THREADS, OR YARNS; YARNS OR THREADS
    • D02G3/00—Yarns or threads, e.g. fancy yarns; Processes or apparatus for the production thereof, not otherwise provided for
    • D02G3/22—Yarns or threads characterised by constructional features, e.g. blending, filament/fibre
    • D02G3/32—Elastic yarns or threads ; Production of plied or cored yarns, one of which is elastic
    • D02G3/328—Elastic yarns or threads ; Production of plied or cored yarns, one of which is elastic containing elastane
    • D—TEXTILES; PAPER
    • D10—INDEXING SCHEME ASSOCIATED WITH SUBLASSES OF SECTION D, RELATING TO TEXTILES
    • D10B—INDEXING SCHEME ASSOCIATED WITH SUBLASSES OF SECTION D, RELATING TO TEXTILES
    • D10B2509/00—Medical; Hygiene

Definitions

  • the invention belongs to the cross field of artificial intelligence material, textile material and robot driving technology, relates to the field of artificial intelligence and textile material composite and robot driving technology, and in particular relates to a light-driven artificial muscle material and a preparation method and application thereof.
  • Actuator is the power component of micro-electromechanical system. It is a transducer that converts driving energy into mechanical displacement or mechanical force. It undertakes important roles such as energy conversion and motion transmission. , wireless control, biomedicine and robotics is one of the important technologies that need to be further developed.
  • Carbon nanotubes are carbon nanomaterials with many outstanding properties.
  • researchers have prepared various actuators by utilizing the excellent mechanical strength and flexibility of carbon nanotubes, high electrical conductivity, strong light absorption capacity and other excellent properties.
  • the composite method is mainly used, that is, carbon nanotubes and polymers are composited to make yarns, and then covered with stretchable materials to make actuators.
  • the composite method is mainly used, that is, carbon nanotubes and polymers are composited to make yarns, and then covered with stretchable materials to make actuators.
  • the finished product is bulky, has low sensitivity, poor durability and poor flexibility.
  • the technical problem to be solved by the present invention is to overcome the deficiencies in the prior art, and to provide an improved preparation method of an artificial muscle material actuated by optical drives, and the artificial muscle material prepared by the method can not only obtain better durability and sensitivity , and good flexibility and light weight.
  • the present invention also provides an optical-drive-actuated artificial muscle material prepared by the above preparation method.
  • the present invention also provides an optical-drive actuator comprising the above-mentioned optical-drive-actuated artificial muscle material.
  • a preparation method of a light-driven-actuated artificial muscle material comprising the following steps:
  • step (1) Dispersing the dried polyurethane and carbon nanotubes in step (1) in a mixed solvent respectively to prepare a mixed spinning solution; wherein the mixed solvent is composed of N,N-dimethylformamide and tetrahydrofuran , the feed volume ratio of described N,N-dimethylformamide and described tetrahydrofuran is 1:0.8-1.2;
  • step (3) the mixed spinning solution obtained in step (2) is made into a fiber bundle by electrospinning, and the fiber bundle is made into a primary yarn by twisting;
  • the drying is vacuum drying, and the vacuum drying conditions are: the air pressure is 19-20 kPa, and the temperature is 60-65°C.
  • This drying method can preserve the physical and chemical properties of carbon nanotubes and polyurethane to the greatest extent.
  • the polyurethane is selected from smaller-sized polyurethane chips, which are commercially available.
  • the carbon nanotubes are commercially available
  • the carbon nanotubes are prepared by the following method: prepare by chemical vapor deposition, use ferric chloride as a catalyst, use acetylene as a carbon source, sublime ferric chloride in a vacuum environment, and then carry out a gas-phase reaction with acetylene , the iron carbide particles formed on the quartz substrate are used as catalytic particles to become the growth nucleus of carbon nanotubes, and the multi-layer carbon nanotubes grow at a high speed of about 0.05-0.15mm/min; the temperature of the reaction is 700-800 °C , the purity of ferric chloride is about 98-99%, the purity of acetylene is above 96%, and the average diameter of multi-layer carbon nanotubes is 40nm.
  • the polyurethane is cheap and easy to obtain, and the carbon nanotubes are prepared by chemical vapor deposition, so that the cost of the present invention is controllable, the production speed is fast, and the large-scale application of artificial muscles is provided.
  • the mass ratio of the polyurethane to the carbon nanotubes is 8-12:1. According to a specific aspect of the present invention, in step (2), the mass ratio of the polyurethane to the carbon nanotubes is 10:1.
  • an ultraviolet absorber is also added to the mixed spinning solution, and the ultraviolet absorber includes o-hydroxybenzophenones, benzotriazoles, salicylic For esters, triazines, and substituted acrylonitriles, the mass ratio of the ultraviolet absorber to the polyurethane is 1:38-42.
  • the addition of ultraviolet light absorbers can effectively absorb high-energy ultraviolet rays with a wavelength of 290-410 nm, reduce the photoaging of polyurethane without interfering with long-wave far-infrared light, and effectively improve the light resistance of polyurethane.
  • step (2) the process of controlling the dispersion is performed at 65-75°C. More preferably, in step (2), the process of controlling the dispersion is carried out at 69-71°C.
  • step (2) the dispersion process is carried out by ultrasonic resonance, and three solid raw materials and N of the polyurethane, the carbon nanotubes and the selective ultraviolet light absorber are controlled,
  • the volume ratio of N-dimethylformamide (DMF) and tetrahydrofuran (THF) as a mixed solvent is 1:10, the duration of the ultrasonic resonance is about 100-150 min, and the operation program is on for 1 s and off for 2 s.
  • DMF N-dimethylformamide
  • THF tetrahydrofuran
  • step (2) the viscosity of the prepared mixed spinning solution is controlled to be 750-850 mPa ⁇ s.
  • the electrospinning conditions are: the electrospinning voltage is 14.5-15.5kV, and the spinning solution flow rate is 0.8-0.85mL ⁇ h -1 .
  • the twist in step (3), in the control of the twisting process, is 200-1000 twists/10cm, and the twist angle (representing the angle between the surface fibers and the yarn axis) is 10- 60 degrees, the twisting load is 1-1.3MPa, and the twisting speed is 65-75r/min.
  • the average diameter of the primary yarn is 1000-3000 nm.
  • the thermally conductive silicone grease contains nano-aluminum nitride, and its oil leakage rate is 0.04-0.06%, which can be obtained commercially.
  • step (4) in the soaking process, the soaking pressure is 15-35Mpa, and the soaking time is 2-4h.
  • the twist degree is 200-1000 twists/10cm
  • the twist angle is 10-60 degrees
  • the twisting load is 1.3-1.5MPa
  • the twisting load is 1.3-1.5MPa.
  • the twisting speed is 100-120r/min.
  • the average diameter of the artificial muscle material is 0.8-1.1 mm.
  • the drying is a freeze-drying method, and the conditions of the freeze-drying method are: the air pressure is 1.3-13 Pa, and the temperature is below -10°C.
  • the heat treatment method is to perform thermal annealing at both ends at 55-65° C. for 20-30 h.
  • an optical-drive-actuated artificial muscle material prepared by the above-mentioned preparation method of an optical-drive-actuated artificial muscle material.
  • optical drive actuator includes the above-mentioned optical drive-actuated artificial muscle material.
  • the present invention has the following advantages compared with the prior art:
  • the artificial muscle prepared by the invention adopts polyurethane and carbon nanotubes as raw materials, and controls the solvent ratio of the mixed spinning solution. Less loss, can effectively improve the durability and sensitivity of artificial muscles.
  • the sensitivity and durability of the muscles give them excellent flexibility.
  • the artificial muscle of the present invention has low price and fast production speed.
  • the temperature can be rapidly raised to about 60° C. within 3s, and can be rapidly lowered to room temperature within 6s, causing the optical drive It shows potential application prospects in the fields of wireless control and biomedicine.
  • Fig. 1 is the process flow diagram of preparing artificial muscle according to the embodiment of the present invention.
  • Fig. 2 is a distribution state diagram of carbon nanotubes in artificial muscle material.
  • all raw materials are basically obtained from commercial sources or prepared by conventional methods in the art.
  • the polyurethane chips were purchased from Ningbo Yingchuang Plastic Co., Ltd., the grade is 1085, the elastic recovery rate after 300% elongation is more than 95%, and the total light transmittance is 55%-65%.
  • Carbon nanotubes were purchased from Suzhou Tanfeng Graphene Co., Ltd., the model is CNTs-007-3C, and the CAS number is 308068-56-6.
  • Thermal grease contains nano-aluminum nitride and was purchased from Dongguan Guanxin Shichuang Silicone Co., Ltd. with the grade of YS-2210.
  • This example provides a preparation process of an optical-drive-actuated artificial muscle material and a structural system used, as shown in FIG. 1 , including a vacuum drying device 101 for polyurethane slices and carbon nanotubes, which are respectively arranged on both sides; adding Dissolving tank 102 of a mixed solvent of N,N-dimethylformamide (DMF) and tetrahydrofuran (THF) for ultraviolet light absorbers (optionally added); polyurethane slices 103; carbon nanotubes 104; electrospinning needles 105; Fiber collection device 106; DC high voltage power supply 107; primary twisting device 108; thermal grease 109; silicone grease impregnation tank 110; secondary twisting device 111; low temperature drying device 112; In the finished artificial muscle material 115, the distribution state of carbon nanotubes in the artificial muscle material is as shown in FIG.
  • DMF N,N-dimethylformamide
  • THF tetrahydrofuran
  • the polyurethane chips 103 and carbon nanotubes 104 have passed through the vacuum drying device 101 is dried to make a mixed spinning solution and then added to the electrospinning needle 105 provided by the DC high voltage power supply 107 and ejected, collected by the fiber collecting device 106 at high speed, and then twisted by the primary twisting device 108, passing through the thermal conductive silicone grease 109
  • the silicone grease dipping tank 110 is soaked, twisted by the secondary twisting device 111, then dried by the low-temperature drying device 112, heat-treated by the heat-setting device 113, collected and wound by the winding collecting device 114, and the finished artificial muscle material 115 is obtained.
  • This example provides a preparation method of an optical-drive-actuated artificial muscle material, and the preparation method includes the following steps:
  • step (1) Dispersing the dried polyurethane, carbon nanotubes and ultraviolet absorber o-hydroxybenzophenone in a mixed solvent at 70° C. respectively in step (1) to prepare a mixed spinning solution; wherein, the mixed spinning solution is
  • the solvent is composed of N,N-dimethylformamide and tetrahydrofuran, and the volume ratio of the N,N-dimethylformamide to the tetrahydrofuran is 1:1, and the polyurethane, the carbon nanotube and the The charging mass ratio of the ultraviolet absorber o-hydroxybenzophenone is 40: 4: 1;
  • the dispersion process adopts ultrasonic resonance, the duration of ultrasonic resonance is about 120min, and the operation procedure is to open for 1s and close for 2s;
  • the viscosity of the mixed spinning solution is 800 mPa ⁇ s
  • step (3) The mixed spinning solution obtained in step (2) is electrospun into fiber bundles, and the fiber bundles are twisted into primary yarns;
  • the conditions of the electrospinning are: the electrospinning voltage is 14.5kV, and the flow rate of the spinning solution is 0.8mL ⁇ h -1 ;
  • the twist is 200 twists/10cm, the twist angle is 10 degrees, the twisting load is 1.1MPa, and the twisting speed is 70r/min;
  • the soaking pressure is 20Mpa, and the soaking time is 3h;
  • the twist is 20 twists/cm, the twist angle is 10 degrees, the twisting load is 1.3 MPa, and the twisting speed is 100 r/min;
  • the drying is a freeze-drying method, and the conditions of the freeze-drying method are: the air pressure is 5Pa, the temperature is -10°C, and the drying time is 36h;
  • the method of the heat treatment is to perform thermal annealing at both ends at 60°C for 24h;
  • the diameter of the prepared artificial muscle yarn material is 0.85mm
  • the laser irradiation contraction time is 3.5s
  • the extension time is 6.5s
  • the limit expansion and contraction range is 9.8%.
  • the shrinkage time test is the time required for a single yarn to shrink linearly to 7% of its original length
  • the extension time test is the linear recovery of the yarn after a single yarn shrinks
  • the time required for 99% of the original length, the limit expansion and contraction range is the maximum contraction range of a single yarn
  • the laser is 10000 ⁇ 200 nm far infrared rays
  • This example provides a preparation method of an optical-drive-actuated artificial muscle material, and the preparation method includes the following steps:
  • step (1) Dispersing the dried polyurethane, carbon nanotubes and ultraviolet absorber o-hydroxybenzophenone in a mixed solvent at 70° C. respectively in step (1) to prepare a mixed spinning solution; wherein, the mixed spinning solution is
  • the solvent is composed of N,N-dimethylformamide and tetrahydrofuran, and the volume ratio of the N,N-dimethylformamide to the tetrahydrofuran is 1:1, and the polyurethane, the carbon nanotube and the The charging mass ratio of the ultraviolet absorber o-hydroxybenzophenone is 40: 4: 1;
  • the dispersion process adopts ultrasonic resonance, the duration of ultrasonic resonance is about 120min, and the operation procedure is to open for 1s and close for 2s;
  • the viscosity of the mixed spinning solution is 800 mPa ⁇ s
  • step (3) The mixed spinning solution obtained in step (2) is electrospun into fiber bundles, and the fiber bundles are twisted into primary yarns;
  • the conditions of the electrospinning are: the electrospinning voltage is 14.5kV, and the flow rate of the spinning solution is 0.8mL ⁇ h -1 ;
  • the twist is 20 twists/cm, the twist angle is 30 degrees, the twisting load is 1.1 MPa, and the twisting speed is 70 r/min;
  • the soaking pressure is 20Mpa, and the soaking time is 3h;
  • the twist degree is 20 twists/cm
  • the twist angle is 30 degrees
  • the twisting load is 1.3 MPa
  • the twisting speed is 100 r/min;
  • the drying is a freeze-drying method, and the conditions of the freeze-drying method are: the air pressure is 5Pa, the temperature is -10°C, and the drying time is 36h;
  • the method of the heat treatment is to perform thermal annealing at both ends at 60°C for 24h;
  • the diameter of the prepared artificial muscle yarn material is 0.8 mm, the laser irradiation contraction time is 3 s, the stretching time is 5 s, the fatigue fracture is repeated 2100 times, and the limit expansion and contraction range is 7.8%.
  • This example provides a preparation method of an optical-drive-actuated artificial muscle material, and the preparation method includes the following steps:
  • step (1) Dispersing the dried polyurethane, carbon nanotubes and ultraviolet absorber o-hydroxybenzophenone in a mixed solvent at 70° C. respectively in step (1) to prepare a mixed spinning solution; wherein, the mixed spinning solution is
  • the solvent is composed of N,N-dimethylformamide and tetrahydrofuran, and the volume ratio of the N,N-dimethylformamide to the tetrahydrofuran is 1:1, and the polyurethane, the carbon nanotube and the The charging mass ratio of the ultraviolet absorber o-hydroxybenzophenone is 40: 4: 1;
  • the dispersion process adopts ultrasonic resonance, the duration of ultrasonic resonance is about 120min, and the operation procedure is to open for 1s and close for 2s;
  • the viscosity of the mixed spinning solution is 800 mPa ⁇ s
  • step (3) The mixed spinning solution obtained in step (2) is electrospun into fiber bundles, and the fiber bundles are twisted into primary yarns;
  • the conditions of the electrospinning are: the electrospinning voltage is 15kV, and the flow rate of the spinning solution is 0.8mL ⁇ h -1 ;
  • the twist degree is 20 twists/cm
  • the twist angle is 10 degrees
  • the twisting load is 1.1 MPa
  • the twisting speed is 70 r/min;
  • the soaking pressure is 30Mpa, and the soaking time is 3h;
  • the twist is 20 twists/cm, the twist angle is 10 degrees, the twisting load is 1.3 MPa, and the twisting speed is 100 r/min;
  • the drying is a freeze-drying method, and the conditions of the freeze-drying method are: the air pressure is 5Pa, the temperature is -10°C, and the drying time is 36h;
  • the method of the heat treatment is to perform thermal annealing at both ends at 60°C for 24h;
  • the diameter of the prepared artificial muscle yarn material is 0.9mm, the laser irradiation contraction time is 3.5s, the extension time is 6.5s, the fatigue fracture is repeated 2000 times, and the limit expansion and contraction range is 9.6%.
  • Example 2 Basically the same as in Example 2, the only difference is that the step (4) does not go through the soaking step of thermally conductive silicone grease.
  • the diameter of the prepared artificial muscle yarn material is 1.0mm, the laser irradiation contraction time is 7s, the extension time is 15s, the fatigue fracture is repeated 1500 times, and the limit expansion and contraction range is 7.1%.
  • step (2) mixed solvent is made up of N,N-dimethylformamide and tetrahydrofuran, and the feed volume ratio of described N,N-dimethylformamide and described tetrahydrofuran 1:2, the diameter of the prepared artificial muscle yarn material is 0.89mm, the laser irradiation contraction time is 5s, the extension time is 11s, repeated 1800 times of fatigue fracture, and the limit expansion and contraction range is 7.8%.
  • step (2) mixed solvent is made up of N,N-dimethylformamide and tetrahydrofuran, and the feed volume ratio of described N,N-dimethylformamide and described tetrahydrofuran
  • This example provides a preparation method of an optical-drive-actuated artificial muscle material, and the preparation method includes the following steps:
  • Step 1 Cut the carbon nanotube film with a thickness of 10 ⁇ m and a purity of more than 90% into strips with a length of 50 cm and a width of 2 cm, and then immerse it in a polyurethane solution for 10 s, so that the resin is uniformly coated on the surface of the carbon nanotubes. carbon nanotube film composited with resin;
  • Step 2 twist the carbon nanotube film composited with the polymer resin obtained in step 1, the yarn twist is 10/cm, and the twist angle is 30 degrees. The excess resin on the surface of the carbon nanotube composite yarn is removed to obtain the carbon nanotube composite yarn;
  • Step 3 After fixing both ends of the carbon nanotube composite yarn obtained in step 2, place it in an oven to dry and solidify, the solidification temperature is 80°C, and the solidification time is 2h and then naturally cooled to obtain the artificial muscle material.
  • the diameter of the prepared artificial muscle yarn material is 0.91mm, the laser irradiation contraction time is 8s, the extension time is 17s, and the fatigue fracture is repeated 850 times.
  • the limit stretch is 7.1%.

Abstract

一种光驱致动的人工肌肉材料及其制备方法和应用，其制备方法包括：（1）选用聚氨酯和碳纳米管作为原料，分别干燥；（2）将经干燥后的聚氨酯和碳纳米管分别分散于混合溶剂中，制成混合纺丝液；混合溶剂由投料体积比为1∶0.8-1.2的N,N-二甲基甲酰胺和四氢呋喃构成；（3）将获得的混合纺丝液经静电纺丝制成纤维束，通过加捻制成初级纱；（4）将初级纱浸泡在导热硅脂中，然后加捻成卷曲状的纱线，干燥，热处理，制成光驱致动的人工肌肉材料；以及包括上述制成的人工肌肉材料的光驱致动器；该方法制成的人工肌肉材料不仅能够获得较佳的耐久性和灵敏度，而且柔韧性佳、质量轻。

Description

一种光驱致动的人工肌肉材料及其制备方法和应用 技术领域
本发明属于人工智能材料与纺织材料及机器人驱动技术交叉领域，涉及人工智能和纺织材料复合及机器人驱动技术领域，具体涉及一种光驱致动的人工肌肉材料及其制备方法和应用。
背景技术
目前人工智能材料和机器人驱动技术及纺织材料复合技术领域的致动技术得到较快发展。人工肌肉是致动器的一种，致动器是微机电***的动力部件，是将驱动能量转换成机械位移或机械力的换能器，承担能量转化、运动传递等重要作用，在人工智能、无线控制、生物医疗及机器人领域是亟要进一步发展的重要技术之一。
碳纳米管是一种具有多方面突出性能的碳纳米材料。研究者们利用碳纳米管优异的力学强度和柔韧性、较高的电导、较强的光吸收能力等优良特性制备了各种各样的致动器。目前主要是采用复合法，即通过碳纳米管与高聚物复合制成纱线，然后包覆伸缩材料制成致动器，然而此类方法虽然可以达到能量转换致动的目的，但制得的成品笨重，灵敏度不高，耐久性差，柔性差性。
发明内容
本发明所要解决的技术问题是克服现有技术中的不足，提供一种改进的光驱致动的人工肌肉材料的制备方法，该方法制成的人工肌肉材料不仅能够获得较佳的耐久性和灵敏度，而且柔韧性佳、质量轻。
本发明同时还提供了一种上述制备方法制成的光驱致动的人工肌肉材料。
本发明同时还提供了一种包括上述光驱致动的人工肌肉材料的光驱致动器。
为解决以上技术问题，本发明采取的一种技术方案如下：
一种光驱致动的人工肌肉材料的制备方法，所述制备方法包括如下步骤：
(1)选用聚氨酯和碳纳米管作为原料，分别干燥；
(2)将经步骤(1)干燥后的聚氨酯和碳纳米管分别分散于混合溶剂中，制成混合纺丝液；其中，所述混合溶剂由N,N-二甲基甲酰胺和四氢呋喃构成，所述N,N-二甲基甲酰胺与所述四氢呋喃的投料体积比为1∶0.8-1.2；
(3)将步骤(2)获得的所述混合纺丝液经静电纺丝制成纤维束，将所述纤维束通过 加捻制成初级纱；
(4)将所述初级纱浸泡在导热硅脂中，然后加捻成卷曲状的纱线，干燥，热处理，制成所述光驱致动的人工肌肉材料。
根据本发明的一些优选方面，步骤(1)中，所述干燥为真空干燥，所述真空干燥的条件为：气压为19-20kPa，温度为60-65℃。此种干燥方法可以最大程度保留碳纳米管及聚氨酯的理化性质。
根据本发明的一些具体方面，步骤(1)中，所述聚氨酯选用尺寸较小的聚氨酯切片，可商购获得。
根据本发明的一些具体方面，步骤(1)中，所述碳纳米管可商购获得；
或者，优选地，所述碳纳米管通过如下方法制备：采用化学气相沉积法制备，用氯化铁做催化剂，用乙炔作为碳源，在真空环境中氯化铁升华，而后与乙炔进行气相反应，在石英基板上形成的碳化铁粒子作为催化粒子，成为碳纳米管的成长核，多层碳纳米管排列以约0.05-0.15mm/min的速度高速成长；其中反应的温度为700-800℃，氯化铁的纯度约为98-99％，乙炔的纯度在96％以上，多层碳纳米管的平均直径为40nm。
根据本发明，聚氨酯廉价易得且碳纳米管采用化学气相沉积法制备，使得本发明造价可控，生产速度快，为人工肌肉的大规模应用提供了可能。
根据本发明的一些优选方面，步骤(2)中，所述聚氨酯与所述碳纳米管的投料质量比为8-12∶1。根据本发明的一个具体方面，步骤(2)中，所述聚氨酯与所述碳纳米管的投料质量比为10∶1。
根据本发明的一些具体方面，步骤(2)中，所述混合纺丝液中还添加有紫外线吸收剂，所述紫外线吸收剂包括邻羟基二苯甲酮类、苯并***类、水杨酸酯类、三嗪类、取代丙烯腈类，所述紫外线吸收剂与所述聚氨酯的投料质量比为1∶38-42。紫外光吸收剂的加入可有效吸收波长为290～410nm的高能紫外线，减少聚氨酯光老化且不会对长波远红外光产生干扰，有效提高聚氨酯的耐光性。
根据本发明的一些优选方面，步骤(2)中，控制所述分散的过程在65-75℃下进行。更优选地，步骤(2)中，控制所述分散的过程在69-71℃下进行。
根据本发明的一些优选方面，步骤(2)中，所述分散的过程采用超声共振进行，并控制所述聚氨酯、所述碳纳米管及选择性的紫外光吸收剂三种固体原料和N，N-二甲 基甲酰胺(DMF)和四氢呋喃(THF)为混合溶剂的体积比为1:10，所述超声共振的时长约为100-150min，操作程序为开1s，关2s。
根据本发明的一些优选方面，步骤(2)中，控制制成的所述混合纺丝液的黏度为750-850mPa·s。
根据本发明的一些优选方面，步骤(3)中，所述静电纺丝的条件为：静电纺丝电压为14.5-15.5kV，纺丝液流速为0.8-0.85mL·h -1。
根据本发明的一些优选方面，步骤(3)中，控制所述加捻过程中，捻度为200-1000捻/10cm，捻回角(表征表层纤维相对于纱线轴线的夹角)为10-60度，加捻载荷为1-1.3MPa，加捻速度为65-75r/min。
根据本发明的一些优选方面，步骤(3)中，所述初级纱的平均直径为1000-3000nm。
根据本发明的一些优选且具体的方面，步骤(4)中，所述导热硅脂含有纳米氮化铝，其渗油率为0.04-0.06％，可通过商购获得。
根据本发明的一些优选且具体的方面，步骤(4)中，所述浸泡过程中，浸泡压力为15-35Mpa，浸泡时间为2-4h。
根据本发明的一些优选方面，步骤(4)中，控制所述加捻过程中，捻度为200-1000捻/10cm，捻回角为10-60度，加捻载荷为1.3-1.5MPa，加捻速度为100-120r/min。
根据本发明的一些优选方面，步骤(4)中，所述人工肌肉材料的平均直径为0.8-1.1mm。
根据本发明的一些优选方面，步骤(4)中，所述干燥为冷冻干燥法，所述冷冻干燥法的条件为：气压1.3-13Pa，温度为-10℃以下。
根据本发明的一些优选方面，步骤(4)中，所述热处理的方法为在55-65℃下进行两端系扎热退火20-30h。
本发明提供的又一技术方案：一种上述所述的光驱致动的人工肌肉材料的制备方法制成的光驱致动的人工肌肉材料。
本发明提供的又一技术方案：一种光驱致动器，所述光驱致动器包括上述所述的光驱致动的人工肌肉材料。
由于以上技术方案的采用，本发明与现有技术相比具有如下优点：
本发明制备的人工肌肉采用聚氨酯及碳纳米管作为原材料，并控制混合纺丝液的溶剂配比，制成后的纳米纤维表面规整，瘤结少，结构缺陷少，直径分布集中，聚氨 酯纤维力学损失少，可有效提高人造肌的耐久度及灵敏度。同时，通过两级加捻以及施加含有纳米氮化铝地导热硅脂，排出了纳米尺度下纤维间的空气，以及可以缓冲重复伸缩过程中的纤维间摩擦，同时隔绝水汽进入，进一步提高了人工肌肉的灵敏度和耐久性，赋予其优良的柔性。
同时本发明的人工肌肉，其价格低廉，生产速度快，在波长为6000～15000纳米远红外线照射下可在3s内迅速升温至60℃左右，并能够在6s内迅速降至室温，引发光驱致动，在无线控制、生物医疗等领域显示出潜在的应用前景。
附图说明
图1为本发明实施例制备人工肌肉的工艺流程图；
图2是碳纳米管在人工肌肉材料中的分布状态图。
具体实施方式
以下结合具体实施例对上述方案做进一步说明；应理解，这些实施例是用于说明本发明的基本原理、主要特征和优点，而本发明不受以下实施例的范围限制；实施例中采用的实施条件可以根据具体要求做进一步调整，未注明的实施条件通常为常规实验中的条件。
下述中，如无特殊说明，所有的原料基本来自于商购或者通过本领域的常规方法制备而得。下述中，聚氨酯切片购自宁波英创塑胶有限公司，牌号为1085，300％伸长后弹性恢复率95％以上，全光线透过率55％-65％。碳纳米管购自苏州碳丰石墨烯有限公司，型号为CNTs-007-3C,CAS号为308068-56-6。导热硅脂含有纳米氮化铝，购自东莞市冠新时创有机硅有限公司，牌号为YS-2210。
实施例1
本例提供一种光驱致动的人工肌肉材料的制备工艺流程以及所采用的结构***，如图1所示，包括分别分列于两侧的聚氨酯切片及碳纳米管的真空干燥装置101；添加紫外光吸收剂(选择性地添加)的N，N-二甲基甲酰胺(DMF)和四氢呋喃(THF)混合溶剂的溶解槽102；聚氨酯切片103；碳纳米管104；静电纺丝针头105；纤维收集装置106；直流高压电源107；初级加捻装置108；导热硅脂109；硅脂浸渍槽110；次级加捻装置111；低温干燥装置112；热定型装置113；卷绕收集装置114；成品人工肌肉材料115，其中制成的人工肌肉材料中碳纳米管的分布状态如图2所示。在物料进入选择性添加了紫外光吸收剂的N，N-二甲基甲酰胺(DMF)和四氢呋喃(THF)混合溶 剂的溶解槽102前，聚氨酯切片103及碳纳米管104已经经过真空干燥装置101干燥，制成混合纺丝液后加入直流高压电源107提供电力的静电纺丝针头105喷出，被纤维收集装置106高速收集，然后经初级加捻装置108加捻，通过有导热硅脂109的硅脂浸渍槽110浸泡，进行次级加捻装置111加捻，然后通过低温干燥装置112干燥，热定型装置113热处理，被卷绕收集装置114收集卷绕，得到成品人工肌肉材料115。
实施例2
本例提供一种光驱致动的人工肌肉材料的制备方法，所述制备方法包括如下步骤：
(1)选用聚氨酯切片和碳纳米管作为原料，分别干燥，所述干燥采用真空干燥，真空干燥的条件为：气压为19.5kPa，温度为60℃，干燥时间24小时；
(2)将经步骤(1)干燥后的聚氨酯、碳纳米管、紫外线吸收剂邻羟基二苯甲酮分别在70℃下分散于混合溶剂中，制成混合纺丝液；其中，所述混合溶剂由N,N-二甲基甲酰胺和四氢呋喃构成，所述N,N-二甲基甲酰胺与所述四氢呋喃的投料体积比为1∶1，所述聚氨酯、所述碳纳米管和所述紫外线吸收剂邻羟基二苯甲酮的投料质量比为40∶4∶1；
所述分散过程采用超声共振，超声共振的时长约为120min，操作程序为开1s，关2s；
所述混合纺丝液的黏度为800mPa·s；
(3)将步骤(2)获得的所述混合纺丝液经静电纺丝制成纤维束，将所述纤维束通过加捻制成初级纱；
其中，所述静电纺丝的条件为：静电纺丝电压为14.5kV，纺丝液流速为0.8mL·h -1；
控制所述加捻过程中，捻度为200捻/10cm，捻回角为10度，加捻载荷为1.1MPa，加捻速度为70r/min；
控制所述初级纱的平均直径为2050nm；
(4)将所述初级纱浸泡在导热硅脂中，然后加捻成卷曲状的纱线，干燥，热处理，制成所述光驱致动的人工肌肉材料；
所述浸泡过程中，浸泡压力为20Mpa，浸泡时间为3h；
控制所述加捻过程中，捻度为20捻/厘米，捻回角为10度，加捻载荷为1.3MPa，加捻速度为100r/min；
所述干燥为冷冻干燥法，所述冷冻干燥法的条件为：气压5Pa，温度为-10℃，干燥时间为36h；
所述热处理的方法为在60℃下进行两端系扎热退火24h；
制备得人工肌肉纱材料的直径为0.85mm，激光照射收缩时间为3.5s，伸展时间为6.5s，重复2300次疲劳断裂，极限伸缩幅度为9.8％。【在标准大气压下，室温25℃，65％相对湿度环境：收缩时间测试为单根纱线线性收缩为原长7％所需时间，伸展时间测试为单根纱线收缩后的纱线线性回复为原长99％所需时间，极限伸缩幅度为单根纱线最大收缩幅度，激光为10000±200纳米远红外线】
实施例3
本例提供一种光驱致动的人工肌肉材料的制备方法，所述制备方法包括如下步骤：
(1)选用聚氨酯切片和碳纳米管作为原料，分别干燥，所述干燥采用真空干燥，真空干燥的条件为：气压为19.5kPa，温度为60℃，干燥时间24小时；
(2)将经步骤(1)干燥后的聚氨酯、碳纳米管、紫外线吸收剂邻羟基二苯甲酮分别在70℃下分散于混合溶剂中，制成混合纺丝液；其中，所述混合溶剂由N,N-二甲基甲酰胺和四氢呋喃构成，所述N,N-二甲基甲酰胺与所述四氢呋喃的投料体积比为1∶1，所述聚氨酯、所述碳纳米管和所述紫外线吸收剂邻羟基二苯甲酮的投料质量比为40∶4∶1；
所述分散过程采用超声共振，超声共振的时长约为120min，操作程序为开1s，关2s；
所述混合纺丝液的黏度为800mPa·s；
(3)将步骤(2)获得的所述混合纺丝液经静电纺丝制成纤维束，将所述纤维束通过加捻制成初级纱；
其中，所述静电纺丝的条件为：静电纺丝电压为14.5kV，纺丝液流速为0.8mL·h -1；
控制所述加捻过程中，捻度为20捻/厘米，捻回角为30度，加捻载荷为1.1MPa，加捻速度为70r/min；
控制所述初级纱的平均直径为2050nm；
(4)将所述初级纱浸泡在导热硅脂中，然后加捻成卷曲状的纱线，干燥，热处理，制成所述光驱致动的人工肌肉材料；
所述浸泡过程中，浸泡压力为20Mpa，浸泡时间为3h；
控制所述加捻过程中，捻度为20捻/厘米，捻回角为30度，加捻载荷为1.3MPa，加捻速度为100r/min；
所述干燥为冷冻干燥法，所述冷冻干燥法的条件为：气压5Pa，温度为-10℃，干燥时间为36h；
所述热处理的方法为在60℃下进行两端系扎热退火24h；
制备得人工肌肉纱材料的直径为0.8mm，激光照射收缩时间为3s，伸展时间为5s，重复2100次疲劳断裂，极限伸缩幅度为7.8％。
实施例4
本例提供一种光驱致动的人工肌肉材料的制备方法，所述制备方法包括如下步骤：
(1)选用聚氨酯切片和碳纳米管作为原料，分别干燥，所述干燥采用真空干燥，真空干燥的条件为：气压为19.5kPa，温度为60℃，干燥时间24小时；
(2)将经步骤(1)干燥后的聚氨酯、碳纳米管、紫外线吸收剂邻羟基二苯甲酮分别在70℃下分散于混合溶剂中，制成混合纺丝液；其中，所述混合溶剂由N,N-二甲基甲酰胺和四氢呋喃构成，所述N,N-二甲基甲酰胺与所述四氢呋喃的投料体积比为1∶1，所述聚氨酯、所述碳纳米管和所述紫外线吸收剂邻羟基二苯甲酮的投料质量比为40∶4∶1；
所述分散过程采用超声共振，超声共振的时长约为120min，操作程序为开1s，关2s；
所述混合纺丝液的黏度为800mPa·s；
(3)将步骤(2)获得的所述混合纺丝液经静电纺丝制成纤维束，将所述纤维束通过加捻制成初级纱；
其中，所述静电纺丝的条件为：静电纺丝电压为15kV，纺丝液流速为0.8mL·h -1；
控制所述加捻过程中，捻度为20捻/厘米，捻回角为10度，加捻载荷为1.1MPa，加捻速度为70r/min；
控制所述初级纱的平均直径为2050nm；
(4)将所述初级纱浸泡在导热硅脂中，然后加捻成卷曲状的纱线，干燥，热处理，制成所述光驱致动的人工肌肉材料；
所述浸泡过程中，浸泡压力为30Mpa，浸泡时间为3h；
控制所述加捻过程中，捻度为20捻/厘米，捻回角为10度，加捻载荷为1.3MPa，加捻速度为100r/min；
所述干燥为冷冻干燥法，所述冷冻干燥法的条件为：气压5Pa，温度为-10℃，干燥时间为36h；
所述热处理的方法为在60℃下进行两端系扎热退火24h；
制备得人工肌肉纱材料的直径为0.9mm，激光照射收缩时间为3.5s，伸展时间为6.5s，重复2000次疲劳断裂，极限伸缩幅度为9.6％。
对比例1
基本同实施例2，其区别仅在于：步骤(4)中不经过导热硅脂的浸泡步骤。
制备得人工肌肉纱材料的直径为1.0mm，激光照射收缩时间为7s，伸展时间为15s，重复1500次疲劳断裂，极限伸缩幅度为7.1％。
对比例2
基本同实施例2，其区别仅在于：步骤(2)混合溶剂由N,N-二甲基甲酰胺和四氢呋喃构成，所述N,N-二甲基甲酰胺与所述四氢呋喃的投料体积比为1∶2，制备得人工肌肉纱材料的直径为0.89mm，激光照射收缩时间为5s，伸展时间为11s，重复1800次疲劳断裂，极限伸缩幅度为7.8％。
对比例3
基本同实施例2，其区别仅在于：步骤(2)混合溶剂由N,N-二甲基甲酰胺和四氢呋喃构成，所述N,N-二甲基甲酰胺与所述四氢呋喃的投料体积比为2∶1，制备得人工肌肉纱材料的直径为0.89mm，激光照射收缩时间为6s，伸展时间为12s，重复1900次疲劳断裂，极限伸缩幅度为7.8％。
对比例4
本例提供一种光驱致动的人工肌肉材料的制备方法，所述制备方法包括如下步骤：
步骤1:将厚度l0μm、纯度大于90％的碳纳米管膜裁剪为长50cm、宽2cm的长条后浸渍到聚氨酯溶液中10s，使树脂均匀的涂覆在碳纳米管的表面，得到与聚合物树脂复合的碳纳米管膜；
步骤2:将步骤l得到的与聚合物树脂复合的碳纳米管膜进行加捻，纱线捻度为10/ 厘米，捻回角度为30度，加捻后将膜卷纱通过导纱针，刮去碳纳米管复合纱表面的多余树脂，得到碳纳米管复合纱线；
步骤3:将步骤2的得到的碳纳米管复合纱线两端固定后，放置在烘箱中烘干固化，固化温度80℃，固化时间2h后自然冷却，即得所述人工肌肉材料。
制备得人工肌肉纱材料的直径为0.91mm，激光照射收缩时间为8s，伸展时间为17s，重复850次疲劳断裂。极限伸缩幅度为7.1％。
上述实施例只为说明本发明的技术构思及特点，其目的在于让熟悉此项技术的人士能够了解本发明的内容并据以实施，并不能以此限制本发明的保护范围，凡根据本发明精神实质所作的等效变化或修饰，都应涵盖在本发明的保护范围之内。

Claims (23)

  1. 一种光驱致动的人工肌肉材料的制备方法，其特征在于，所述制备方法包括如下步骤：
    (1)选用聚氨酯和碳纳米管作为原料，分别进行真空干燥，所述真空干燥的条件为：气压为19-20kPa，温度为60-65℃；
    (2)将经步骤(1)干燥后的聚氨酯、碳纳米管和紫外线吸收剂分别分散于混合溶剂中，制成黏度为750-850mPa·s的混合纺丝液；其中，所述混合溶剂由N,N-二甲基甲酰胺和四氢呋喃构成，所述N,N-二甲基甲酰胺与所述四氢呋喃的投料体积比为1∶0.8-1.2，所述聚氨酯与所述碳纳米管的投料质量比为8-12∶1，所述紫外线吸收剂与所述聚氨酯的投料质量比为1∶38-42，控制所述分散的过程在65-75℃下、采用超声共振进行；
    (3)将步骤(2)获得的所述混合纺丝液经静电纺丝制成纤维束，将所述纤维束通过加捻制成平均直径为1000-3000nm的初级纱；所述静电纺丝的条件为：静电纺丝电压为14.5-15.5kV，纺丝液流速为0.8-0.85mL·h -1，控制所述加捻过程中，捻度为200-1000捻/10cm，捻回角为10-60度，加捻载荷为1-1.3MPa，加捻速度为65-75r/min；
    (4)将所述初级纱浸泡在渗油率为0.04-0.06％且含有纳米氮化铝的导热硅脂中，然后加捻成卷曲状的纱线，冷冻干燥，热处理，制成平均直径为0.8-1.1mm的所述光驱致动的人工肌肉材料；其中，所述浸泡过程中，浸泡压力为15-35Mpa，浸泡时间为2-4h；控制所述加捻过程中，捻度为200-1000捻/10cm，捻回角为10-60度，加捻载荷为1.3-1.5MPa，加捻速度为100-120r/min；所述冷冻干燥的条件为：气压1.3-13Pa，温度为-10℃以下；所述热处理的方法为在55-65℃下进行两端系扎热退火20-30h；
    该光驱致动的人工肌肉材料在波长为6000-15000纳米远红外线照射下能够在3s内升温至60℃，并在6s内降至室温。
  2. 一种光驱致动的人工肌肉材料的制备方法，其特征在于，所述制备方法包括如下步骤：
    (1)选用聚氨酯和碳纳米管作为原料，分别干燥；
    (2)将经步骤(1)干燥后的聚氨酯和碳纳米管分别分散于混合溶剂中，制成混合纺丝液；其中，所述混合溶剂由N,N-二甲基甲酰胺和四氢呋喃构成，所述N,N-二甲基甲酰胺与所述四氢呋喃的投料体积比为1∶0.8-1.2；
    (3)将步骤(2)获得的所述混合纺丝液经静电纺丝制成纤维束，将所述纤维束通过加捻制成初级纱；
    (4)将所述初级纱浸泡在导热硅脂中，然后加捻成卷曲状的纱线，干燥，热处理，制成所述光驱致动的人工肌肉材料。
  3. 根据权利要求1或2所述的光驱致动的人工肌肉材料的制备方法，其特征在于，所述碳纳米管通过如下方法制备：采用化学气相沉积法，用氯化铁做催化剂，用乙炔作为碳源，在真空环境中氯化铁升华，然后与乙炔进行气相反应，在石英基板上形成的碳化铁粒子作为催化粒子，成为碳纳米管的成长核，生长出碳纳米管。
  4. 根据权利要求3所述的光驱致动的人工肌肉材料的制备方法，其特征在于，控制氯化铁与乙炔进行气相反应的反应温度为700-800℃。
  5. 根据权利要求3所述的光驱致动的人工肌肉材料的制备方法，其特征在于，控制氯化铁的纯度为98-99％，乙炔的纯度在96％以上。
  6. 根据权利要求2所述的光驱致动的人工肌肉材料的制备方法，其特征在于，步骤(1)中，所述干燥为真空干燥，所述真空干燥的条件为：气压为19-20kPa，温度为60-65℃。
  7. 根据权利要求2所述的光驱致动的人工肌肉材料的制备方法，其特征在于，步骤(2)中，所述聚氨酯与所述碳纳米管的投料质量比为8-12∶1。
  8. 根据权利要求2所述的光驱致动的人工肌肉材料的制备方法，其特征在于，步骤(2)中，控制所述分散的过程在65-75℃下进行。
  9. 根据权利要求2所述的光驱致动的人工肌肉材料的制备方法，其特征在于，步骤(2)中，控制制成的所述混合纺丝液的黏度为750-850mPa·s。
  10. 根据权利要求2所述的光驱致动的人工肌肉材料的制备方法，其特征在于，步骤(2)中，所述混合纺丝液中还添加有紫外线吸收剂，所述紫外线吸收剂与所述聚氨酯的投料质量比为1∶38-42。11.根据权利要求2所述的光驱致动的人工肌肉材料的制备方法，其特征在于，步骤(2)中，所述分散的过程采用超声共振进行，所述超声共振的时长为100-150min。
  11. 根据权利要求2所述的光驱致动的人工肌肉材料的制备方法，其特征在于，步骤(3)中，所述静电纺丝的条件为：静电纺丝电压为14.5-15.5kV，纺丝液流速为0.8-0.85mL·h -1。
  12. 根据权利要求2所述的光驱致动的人工肌肉材料的制备方法，其特征在于，步骤(3)中，控制所述加捻过程中，捻度为200-1000捻/10cm，捻回角为10-60度，加捻载荷为1-1.3MPa，加捻速度为65-75r/min.
  13. 根据权利要求2所述的光驱致动的人工肌肉材料的制备方法，其特征在于，步骤(3)中，控制所述初级纱的平均直径为1000-3000nm。
  14. 根据权利要求2所述的光驱致动的人工肌肉材料的制备方法，其特征在于，步骤(4)中，所述导热硅脂含有纳米氮化铝，其渗油率为0.04-0.06％。
  15. 根据权利要求2所述的光驱致动的人工肌肉材料的制备方法，其特征在于，步骤(4)中，所述浸泡过程中，浸泡压力为15-35Mpa，浸泡时间为2-4h。
  16. 根据权利要求2所述的光驱致动的人工肌肉材料的制备方法，其特征在于，步骤(4)中，控制所述加捻过程中，捻度为200-1000捻/10cm，捻回角为10-60度，加捻载荷为1.3-1.5MPa，加捻速度为100-120r/min。
  17. 根据权利要求2所述的光驱致动的人工肌肉材料的制备方法，其特征在于，步骤(4)中，控制所述人工肌肉材料的平均直径为0.8-1.1mm。
  18. 根据权利要求2所述的光驱致动的人工肌肉材料的制备方法，其特征在于，步骤(4)中，所述干燥为冷冻干燥法，所述冷冻干燥法的条件为：气压1.3-13Pa，温度为-10℃以下。
  19. 根据权利要求2所述的光驱致动的人工肌肉材料的制备方法，其特征在于，步骤(4)中，所述热处理的方法为在55-65℃下进行两端系扎热退火20-30h。
  20. 一种权利要求1-20中任一项所述的光驱致动的人工肌肉材料的制备方法制成的光驱致动的人工肌肉材料。
  21. 根据权利要求21所述的光驱致动的人工肌肉材料，其特征在于，该光驱致动的人工肌肉材料在波长为6000-15000纳米远红外线照射下能够在3s内升温至60℃，并在6s内降至室温。
  22. 根据权利要求21所述的光驱致动的人工肌肉材料，其特征在于，该光驱致动的人工肌肉材料的激光照射收缩时间为3-3.5s，伸展时间为5-6.5s，疲劳断裂次数为2000-2300次，极限伸缩幅度为7.8-9.8％。
  23. 一种光驱致动器，其特征在于，所述光驱致动器包括权利要求21或22或23所述的光驱致动的人工肌肉材料。
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