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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 楊燿州 | zh_TW |
| dc.contributor.advisor | Yao-Joe Yang | en |
| dc.contributor.author | 王偉宜 | zh_TW |
| dc.contributor.author | Wei-Yi Wang | en |
| dc.date.accessioned | 2023-12-20T16:30:32Z | - |
| dc.date.available | 2023-12-21 | - |
| dc.date.copyright | 2023-12-20 | - |
| dc.date.issued | 2023 | - |
| dc.date.submitted | 2023-08-10 | - |
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/91327 | - |
| dc.description.abstract | 本研究提出一具形變感測功能之微型液晶高分子致動器，可透過兩電源輸入端達到同時致動與形變感測之功能。此致動器是利用微機電製程技術與真空抽濾技術製作而成之雙層結構，分別為液晶高分子層與混有石墨與奈米碳管之液晶高分子導電層。當通以一驅動電壓時，高分子導電層因焦耳加熱而迅速升溫並加熱整體元件。液晶高分子能於受溫度變化之刺激而產生良好可逆形變，從而達到元件致動之效果。此外，本研究之高分子導電層為一特定比例之石墨與奈米碳管均勻混合而成。透過兩者電阻溫度係數之中和，能使元件之電阻值不易隨溫度變化，達到溫度自補償之功能。因此，藉由量測電阻之變化即可推算元件之形變，使元件亦為一應變感測器。除此之外，本研究展示一由兩致動器組裝成之微型手爪，並展示其致動夾取與感測重量之特性。此元件展現了優異之致動力道，能抓取、移動與放置自身重量約五十倍之物品。元件抓取物品時，可透過量測元件受物品重力作用而拉伸時之電阻變化，達到預測夾取物品重量之感測能力。此微形致動器於實現多項感測回饋能力與實際應用情境中具有極大的潛力。 | zh_TW |
| dc.description.abstract | In this study, we present a miniaturized liquid crystal elastomer(LCE)-based micro-actuator with sensing capability. The proposed device is a bilayer structure consisting of an insulating layer and a conductive layer and can be realized with a standard soft-lithography technique and a novel two-step vacuum filtration process. The insulating layer is made of liquid crystal elastomer (LCE) and the conductive layer is composed of graphite microparticles and carbon nanotubes dispersed in LCE matrix. The actuation of the bilayer structure is generated by applying a voltage across the two input terminals of the conductive composite film. The temperature elevation caused by Joule heating induces the LC-to-isotropic phase transition phenomenon of LCE and results in the deformation of the LCE layer. Besides, by optimizing the ratio of graphite microparticles and carbon nanotubes (CNTs) in the composite films, the strain sensing and the electrothermal stimulation of the composite can be decoupled. Consequently, the conductive composite film is capable of serving as an electrothermal heater for actuating the device as well as a piezoresistive strain gauge for detecting the motion of the device. A gripper consisting of two proposed LCE actuators was implemented. The measured results indicate that the gripper exhibits excellent actuating force and is capable of gripping, lifting, and placing objects that are about fifty times its weight. In addition, it was also demonstrated that the weight of the lifted object can be estimated by measuring the resistance variation of the composite film as it is stretched by the weight of the object. The relationship between the resistance change of the composite film and the object weight was also obtained. The proposed simple approach of integrating self-sensing capability on a LCE-based actuating material is promising for developing intelligent soft robots. | en |
| dc.description.provenance | Submitted by admin ntu (admin@lib.ntu.edu.tw) on 2023-12-20T16:30:32Z No. of bitstreams: 0 | en |
| dc.description.provenance | Made available in DSpace on 2023-12-20T16:30:32Z (GMT). No. of bitstreams: 0 | en |
| dc.description.tableofcontents | 致謝 I
摘要 III Abstract V 目錄 VII 圖目錄 XI 表目錄 XV 符號說明 XVII 第一章 緒論 1 1.1 前言 1 1.2 文獻回顧 2 1.2.1 軟性致動器之驅動 2 1.2.2 致動與感測功能整合之軟性致動器 7 1.2.3 溫度自補償之感測器 12 1.3 研究動機與目的 14 1.4 論文架構 15 第二章 研究理論基礎 17 2.1 元件之致動機制 17 2.1.1 液晶材料簡介 17 2.1.2 液晶材料性質 20 2.1.3 液晶彈性體(Liquid Crystal Elastomer) 22 2.1.4 焦耳加熱 25 2.2 元件之感測機制 26 2.2.1 滲透理論(Percolation Theory) 27 2.2.2 穿隧效應(Tunneling Effect) 29 2.2.3 導電高分子材料之溫度自補償特性 30 第三章 元件設計與製程 33 3.1 元件設計 33 3.2 元件工作原理 34 3.3 元件製作流程 35 3.4 光罩設計 38 3.5 元件微影製程 41 3.5.1 基材清潔與去水烘烤 42 3.5.2 旋轉塗佈(Spin Coating) 42 3.5.3 軟烤(Soft Bake) 44 3.5.4 曝光(Exposure) 45 3.5.5 曝後烤(Post Exposure Bake) 47 3.5.6 顯影(Development) 47 3.5.7 定影(Fixing) 48 3.5.8 硬烤(Hard Bake) 48 3.6 石墨-奈米碳管之分散與填充 48 3.6.1 石墨-奈米碳管分散 49 3.6.2 真空抽濾法 51 3.6.3 SU-8模具拆除 52 3.7 液晶彈性體之製備填充與配向定型 53 3.7.1 模具製作 53 3.7.2 液晶彈性體聚合物配製 54 3.7.3 液晶彈性體多重單軸配向 58 3.8 元件製作結果 58 第四章 量測結果與討論 61 4.1 材料與元件特性量測 61 4.1.1 電阻隨溫度變化量測架設 61 4.1.2 電阻隨溫度變化量測結果與討論 64 4.1.3 應變規因子(Gauge Factor)量測架設 65 4.1.4 應變規因子(Gauge Factor)量測結果與討論 66 4.2 元件致動與感測之特性量測 67 4.2.1 量測架設 67 4.2.2 量測結果與討論 68 4.3 元件情境展示與特性量測 72 4.3.1 量測情境說明與架設 72 4.3.2 量測結果討論 74 4.3.3 元件應用情境展示 76 第五章 結論與未來展望 81 5.1 結論 81 5.2 未來展望 82 參考文獻 83 附錄A 91 附錄B 95 | - |
| dc.language.iso | zh_TW | - |
| dc.subject | 形變感測 | zh_TW |
| dc.subject | 溫度自補償 | zh_TW |
| dc.subject | 微型致動器 | zh_TW |
| dc.subject | 形變感測 | zh_TW |
| dc.subject | 液晶高分子複合材料 | zh_TW |
| dc.subject | 溫度自補償 | zh_TW |
| dc.subject | 微型致動器 | zh_TW |
| dc.subject | 液晶高分子複合材料 | zh_TW |
| dc.subject | Temperature self-compensation | en |
| dc.subject | Liquid Crystal Elastomer | en |
| dc.subject | Polymer composites | en |
| dc.subject | Deformation sensing | en |
| dc.subject | Micro-actuator | en |
| dc.subject | Temperature self-compensation | en |
| dc.subject | Liquid Crystal Elastomer | en |
| dc.subject | Polymer composites | en |
| dc.subject | Deformation sensing | en |
| dc.subject | Micro-actuator | en |
| dc.title | 具溫度自補償形變感測與致動功能之液晶高分子材料特性與元件 | zh_TW |
| dc.title | A Liquid-Crystal-Elastomer Actuator with Nano-Particle-Based Strain Sensing Film | en |
| dc.type | Thesis | - |
| dc.date.schoolyear | 112-1 | - |
| dc.description.degree | 碩士 | - |
| dc.contributor.oralexamcommittee | 陳國聲;蘇裕軒 | zh_TW |
| dc.contributor.oralexamcommittee | Kuo-Shen Chen;Yu-Hsuan Su | en |
| dc.subject.keyword | 液晶高分子複合材料,形變感測,微型致動器,溫度自補償, | zh_TW |
| dc.subject.keyword | Liquid Crystal Elastomer,Polymer composites,Deformation sensing,Micro-actuator,Temperature self-compensation, | en |
| dc.relation.page | 95 | - |
| dc.identifier.doi | 10.6342/NTU202303282 | - |
| dc.rights.note | 未授權 | - |
| dc.date.accepted | 2023-08-11 | - |
| dc.contributor.author-college | 工學院 | - |
| dc.contributor.author-dept | 機械工程學系 | - |
| 顯示於系所單位： | 機械工程學系 | |
文件中的檔案：
| 檔案 | 大小 | 格式 | |
|---|---|---|---|
| ntu-112-1.pdf 未授權公開取用 | 4.65 MB | Adobe PDF |
系統中的文件，除了特別指名其著作權條款之外，均受到著作權保護，並且保留所有的權利。