Title Page
Abstract
Contents
Chapter 1. INTRODUCTION 16
1.1. Objective of the Thesis 17
1.2. Outline of the Thesis 20
Chapter 2. RESEARCH BACKGROUND 21
2.1. Soft Robotics 22
2.1.1. Soft Robotics Characteristics 22
2.1.2. Biomimicry Soft Robotics 26
2.2. Soft Materials for Transient Soft Robotics 29
2.2.1. Passive Transient Soft Materials 29
2.2.2. Active Transient Soft Materials 31
Chapter 3. PHOTODEGRADABLE PNEUMATIC SOFT ROBOTS 34
3.1. Introduction 35
3.2. Overall Strategy of Research 40
3.3. Material Degradation Analysis 43
3.3.1. Structural Analysis 43
3.3.2. Kinetics Analysis 53
3.4. Robotic Applications 64
3.4.1. Transformable Soft Actuators 64
3.4.2. Gaiting Soft Robots with Electronics 74
3.5. Experimental Verification 86
3.6. Chapter Summary 92
Chapter 4. PHOTODEGRADABLE MAGNETIC SOFT ROBOTS 94
4.1. Introduction 95
4.2. Overall Strategy of Research 99
4.3. Material Degradation Analysis 103
4.3.1. Structural Analysis 103
4.3.2. Kinetics Analysis 106
4.4. Robotic Applications 111
4.4.1. SAM capsulized magnetic particles 111
4.4.2. Magnetically actuated trigger transient actuators 117
4.5. Experimental Verification 122
4.6. Chapter Summary 126
Chapter 5. LIFECYCLE CONFIGURABLE SOFT ROBOTS 127
5.1. Introduction 128
5.2. Overall Strategy of Research 132
5.3. Material design 136
5.3.1. Self Reporting System 136
5.3.2. Self Healing System 139
5.3.3. Self Healing, Reporting and Degrading combined System 141
5.4. Application to Soft Robotics 144
5.4.1. Soft Robot demonstration 144
5.4.2. Soft Electronics Integration 145
5.5. Chapter Summary 147
Chapter 6. CONCLUSION 149
References 153
초록 178
Curriculum Vitae 181
Figure 1. Key characteristics of soft robotics. 23
Figure 2. Global emerging field-soft robotics 25
Figure 3. Present and future biomimicry of soft robotics. 28
Figure 4. Passive transient materials for soft robotics. 30
Figure 5. Active transient materials for soft robotics. 33
Figure 6. Overview of transient DPI-HFP/silicone composites and a lifetime-configurable soft robot. 42
Figure 7. Decomposition chemistry of DPI-HFP/ecoflex 00-30 composites that utilizes photoinduced fluoride. 45
Figure 8. Decomposition chemistry of DPI-HFP/sylgard-184 composites that utilizes photoinduced fluoride. 48
Figure 9. ²⁹Si-NMR analysis of DPI-HFP/linear PDMS and DPI-HFP/sylgard-184 composites that utilizes photoinduced fluoride. 50
Figure 10. FT-IR and GPC analysis of DPI-HFP/linear silicone composites that utilizes photoinduced fluoride. 52
Figure 11. Decomposition kinetics analysis of the DPI-HFP/ecoflex 00-30 composite 54
Figure 12. Decomposition sequential images of the DPI-HFP/sylgard-184 composite. 56
Figure 13. DSC analysis of DPI-HFP/ecoflex 00-30 composite. 58
Figure 14. Decomposition kinetics of the DPI-HFP/Sylgard-184 composite. 63
Figure 15. On-demand motion transformation by triggering the decomposition of DPI-HFP/silicone. 65
Figure 16. Remotely laser-induced triggering the decomposition of DPI-HFP/silicone and its analysis. 67
Figure 17. Laser induced decomposition chemistry of DPI-HFP/silicone composites that utilizes photoinduced fluoride. 70
Figure 18. On-demand motion transformation by laser-induced triggering the decomposition of DPI-HFP/silicone. 72
Figure 19. Demonstration of pneumatic gaiting robot developed using flexible and stretchable DPI-HFP/silicone. 76
Figure 20. Integration and characterization of electronics for temperature, strain, and photo sensing. 79
Figure 21. Autonomic operation of a life-time controlled gaiting robot. 83
Figure 22. Overall strategy of magnetically actuated trigger transient polymer composite and a lifetime controllable soft actuator. 101
Figure 23. Structural analysis of photo-triggered decomposition of PPC polymer by PAG. 105
Figure 24. Decomposition reaction kinetic analysis of PPC polymer by PAG using TGA analysis. 108
Figure 25. Magnetic particle modifications for embedding in PPC polymer and various analyses for confirming decomposition of PPC polymer. 112
Figure 26. Application of trigger transient composites to kirigami soft robot. 119
Figure 27. Photo-induced degradation of kirigami soft robot. 121
Figure 28. Scheme of autonomous lifetime-configurable soft material. 133
Figure 29. Overall strategy of autonomous lifetime-configurable soft material. 135
Figure 30. Working mechanism of self-reporting material and polymerization strategy. 137
Figure 31. Healing mechanism of dynamic bond-based self-healing materials and real images. 140
Figure 32. Integration strategy of self-healing materials and self-reporting material via PDMS linker. 142