Materials for soft machines

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Presentation transcript:

Materials for soft machines Zhigang Suo Harvard University

Hard Machines

Soft Machines

octopus Mäthger, Hanlon, Kuzirian – Marine Biological Laboratory, Woods Hole MA

Squid changes color Expanding chromatophores by contracting radial muscles Mathger, Denton, Marshall, Hanlon, J. R. Soc. Interface 6, S149 (2009)

Adaptive Optics Many stimuli cause deformation. Deformation affects optics. Wilbur, Jackman, Whitesides, Cheung, Lee, Prentiss Elastomeric optics Chem. Mater. 1996, 8, 1380-1385 Aschwanden, Stemmer Optics letters 31, 2610 (2006)

Dielectric elastomer Reference State Current State Compliant Electrode Pelrine, Kornbluh, Pei, Joseph High-speed electrically actuated elastomers with strain greater than 100%. Science 287, 836 (2000).

gel = network + solvent solvent gel network reversible network Solid-like: long polymers crosslink by strong bonds. Retain shape Liquid like: polymers and solvent aggregate by weak bonds. Enable transport

Swelling packers in oil wells A project with Schlumberger

Osmosis solution solvent membrane

Neutral gel Paul Flory Flory, Rehner, J. Chem. Phys., 11, 521 (1943)

Diaper Sodium polyacrylate

Super Absorption - - - gel external solution Electroneutrality Donnan equilibrium

Ion exchanger

Ion exchange - - - gel external solution Donnan equilibrium

Gels regulate flow in plants Missy Holbrook Zwieniecki, Melcher, Holbrook, Hydrogel control of xylem hydraulic resistance in plants Science 291, 1095 (2001)

Self-regulating fluidics David Beebe Responsive to Physiological variables: pH Salt Temperature light Many stimuli cause deformation. Deformation affects flow. Beebe, Moore, Bauer, Yu, Liu, Devadoss, Jo, Nature 404, 588 (2000)

pH-sensitive hydrogel

Dissociation of an acid water R R C O C O OH acid base proton Constant of acidic dissociation

pH-sensitive hydrogel 20

Conservation of particles Donnan equilibrium Electroneutrality Conservation of particles Constant of acidic dissociation Ricka, Tanaka,Macromolecules17, 2916 (1984). Marcombe, Cai, Wei, Zhao, Lapusta, Suo, Submitted

Free swelling

Constrained swelling

Blocking force

Inhomogeneous deformation Swelling gels blocked by hard materials Need to formulate boundary-value problems

Electric potential Electrochemical potential Material B Gibbs (1878) electrode Battery does work on electrons, Fdq Pump does work on ions, mdM Helmholtz free energy of system, F Ions, dM equilibrium electrons, dq electroneutrality battery, F pump, m electrode Material A

General principles Deformation gradient Adding volumes Electroneutrality Conservation of particles Independent variables Free energy function Condition of equilibrium

Material model Free energy of the gel Electrochemical potentials of particles in the external solution

Finite element method Condition of equilibrium Legendre transformation Marcombe, Cai, Hong, Zhao, Lapusta, Suo, submitted

Core-shell structure

FEM results pH = 2 D B A gel pillar Channel wall pH = 6

Soft Active Materials (SAM) Soft: large deformation in response to small forces (e.g., rubbers, gels) Active: large deformation in response to diverse stimuli (e.g., electric field, temperature, pH, salt) Stimuli cause deformation. Deformation does something useful. Stimuli pH, E, T, C… SAM deforms Something useful optics, flow…

Summary Convergence of two worlds (soft biology, hard engineering). Soft active materials (SAMs) have many uses (soft robots, adaptive optics, self-regulating fluidics, oil recovery, energy harvesting, drug delivery, tissue regeneration, low-cost diagnosis…). Science of SAMs is interesting and challenging (mechanics, electricity, and chemistry). The field is wide open (fabrication, computation, imagination).