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研究生： 邱翊恩
QIU, YI-EN
論文名稱： 高延展性導電複合結構的開發與巨量變形介電彈性體致動器的應用
Development of Highly Stretchable Conductive Composites for Large Deformation Dielectric Elastomer Actuators
指導教授： 蘇育全
Su, Yu-Chuan
口試委員: 陳宗麟
Chen, Tsung-Lin
陳紹文
Chen, Shao-Wen
學位類別： 碩士
Master
系所名稱： 原子科學院 - 工程與系統科學系
Department of Engineering and System Science
論文出版年： 2025
畢業學年度： 113
語文別： 中文
論文頁數： 95
中文關鍵詞： 介電彈性體致動器 、突跳不穩定性 、銀奈米線 、碳奈米管 、三維光固化成型
外文關鍵詞： Dielectric Elastomer Actuator, Snap-Through Instability, Silver nanowires, Carbon nanotubes, Three-dimensional light curing molding
相關次數： 點閱：42  下載：0 
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    • 本研究透過光固化三維列印技術及複合配方的調配，精準控制曝光位置和時間，製備出厚度為 0.56 mm，具備 682% 延展性的彈性體。接著，利用真空過濾法製備銀奈米線與碳奈米管混合電極，並轉印至雙軸預拉伸 183% 的彈性體兩面上，形成兼具導電性和延展性的複合結構。為測試其性能，將複合結構安裝於開口直徑為 1.2 cm 的腔體，透過空氣壓力使彈性體膨脹成軸對稱的氣球狀，並於彈性體兩面電極上施加電壓差，觸發彈性體的突跳不穩定性，產生巨量變形。首先測試電極性能，我們量測了致動器電容與體積之間的關係。結果顯示，即使吹氣壓力達到 6.9 kPa，氣球體積擴張至 5.25 cm³，彈性體面積應變 1033% 的情況下，致動器電容值仍能穩定上升。接著，施加 3.1 kPa 的氣壓，使氣球初始體積 0.397 cm³ 在 1 kV 電壓作用下達到 2.871 cm³，此時電場為 14.87 V/µm，面積應變為 733%。此外，本研究將此結構延伸至二維 2 x 2 陣列，腔體開口直徑設計為 0.4 cm，每個開口的中心距離為 0.6 cm。接著在真空過濾時使用遮罩將電極圖案化，並轉印至其中一面預拉伸的彈性體上，將其分為四個可獨立驅動的致動器。本實驗透過調整腔室體積，來獲得不同開關電壓的效果。當使用腔體體積 1.5 cm³ 時，施加 14 kPa 的氣壓，每個氣球初始體積為 0.02 cm³，施加 2.5 kV 的電壓後，體積增加至 0.07 cm³，面積應變為 506%。電壓關閉後則恢復初始狀態。而使用腔體體積 1.75 cm³ 時，施加 11.6 kPa 的氣壓，每個氣球初始體積為 0.01 cm³，施加 1.8~2 kV 的電壓後，體積增加至0.054 cm³，電壓關閉後體積為 0.04 cm³，仍維持一定膨脹程度，呈現雙穩態特性，面積應變為 286%。此可逆、可重複且穩定的致動特性，為軟機器人的應用提供了可能性。

    This study employed photocurable 3D printing technology and composite material formulation to precisely control the exposure location and time, fabricating an elastomer with a thickness of 0.56 mm and an elongation of 682%. Subsequently, a mixed electrode of silver nanowires and carbon nanotubes was prepared via vacuum filtration and transferred onto both surfaces of the elastomer, which was biaxially pre-stretched by 183%, forming a composite structure with both conductivity and stretchability. To test its performance, the composite structure was mounted on a cavity with an opening diameter of 1.2 cm. Air pressure was used to inflate the elastomer into an axisymmetric balloon shape, and a voltage difference was applied across the electrodes on both sides of the elastomer to trigger the snap-through instability, generating a large deformation.
    Initially, to assess the electrode performance, the relationship between the actuator capacitance and volume was measured. The results showed that even when the inflation pressure reached 6.9 kPa, the balloon volume expanded to 5.25 cm³, and the elastomer underwent an areal strain of 1033%, the actuator capacitance still increased steadily. Subsequently, an air pressure of 3.1 kPa was applied, causing the initial balloon volume of 0.397 cm³ to reach 2.871 cm³ under a voltage of 1 kV, with an electric field of 14.87 V/µm and an areal strain of 733%.
    Furthermore, this study extended the structure to a 2 x 2 two-dimensional array with a cavity opening diameter of 0.4 cm and a center-to-center distance of 0.6 cm between each opening. A mask was used during the vacuum filtration process to pattern the electrodes, which were then transferred onto one side of the pre-stretched elastomer, dividing it into four independently actuated actuators. This experiment achieved different switching voltages by adjusting the chamber volume. When a chamber volume of 1.5 cm³ was used and an air pressure of 14 kPa was applied, the initial volume of each balloon was 0.02 cm³. After applying a voltage of 2.5 kV, the volume increased to 0.07 cm³, with an areal strain of 506%. The initial state was restored after the voltage was turned off. When a chamber volume of 1.75 cm³ was used and an air pressure of 11.6 kPa was applied, the initial volume of each balloon was 0.01 cm³. After applying a voltage of 1.8~2 kV, the volume increased to 0.054 cm³. When the voltage was turned off, the volume remained at 0.04 cm³, maintaining a certain degree of inflation and exhibiting bistable characteristics, with an areal strain of 286%. This reversible, repeatable, and stable actuation characteristic offers potential for applications in soft robotics.

    摘要 i Abstract ii 致謝 iv 目錄 v 圖目錄 ix 表目錄 xiii 第一章、緒論 1 1.1 前言 1 1.2 介電彈性體致動器（DEA） 2 1.3 三維列印 3 1.3.1 三維列印技術介紹 3 1.3.2 光固化三維列印 5 1.4 研究動機與目的 6 1.5 論文架構與章節描述 7 第二章、文獻回顧 8 2.1 導電電極 8 2.1.1 銀奈米線 9 2.1.2 碳奈米管 10 2.1.3 銀奈米線/碳奈米管混合電極 10 2.1.4 銀奈米線/碳奈米管導電薄膜製備 12 2.1.5 銀奈米線/碳奈米管混合電極測試 14 2.2 預拉伸沉積電極 20 2.3 突跳不穩定性（Snap-Through Instability） 21 2.4 介電彈性體致動器應用 24 2.4.1 與液體結合之介電彈性體致動器 24 2.4.2 與空氣結合之介電彈性體致動器 27 2.5 總結 32 第三章、裝置設計與製造 34 3.1 實驗機台介紹 34 3.1.1 LCD光機介紹 34 3.1.2 LCD 光固化製造流程 35 3.1.3 拉伸測試機台介紹 36 3.1.4 其他實驗設備與儀器 36 3.2 實驗室材料介紹 37 3.2.1 彈性體成分規格 37 3.2.2 導電材料成分規格 40 3.2.3 清潔材料 41 3.2.4 過濾膜 41 3.2.5 腔體材料 43 3.3 光固化聚合原理與彈性體製造 43 3.3.1 自由基型反應 43 3.3.2 彈性體製程 44 3.4 電極-彈性體複合結構製程 47 3.4.1 遮罩設計 47 3.4.2 電極製備 48 3.4.3 電極轉移製程 49 3.5 腔體製程 52 3.5.1 腔體設計原理與製造 52 3.5.2 裝置陣列化設計 54 3.6 測試方法與標準 55 3.6.1 彈性體膨脹體積與面積分析 55 3.6.2 彈性體拉伸測試 58 第四章、結果與討論 59 4.1 商用彈性體性能 59 4.2 光固化彈性體性能 62 4.2.1 拉伸測試 62 4.2.2 吹氣測試 67 4.2.3 彈性體機械性能之比較 70 4.3 銀奈米線/碳奈米管混合電極性能測試 71 4.3.1 電極轉移性能 71 4.3.2 拉伸與電阻變化關係 71 4.3.3 吹氣-電容測試 72 4.3.4 預拉伸倍數之比較 73 4.4 介電彈性體致動器測試 74 4.4.1 配方C1製成 74 4.4.2 配方B5製成 75 4.4.3 不同配方、製程與氣壓條件之比較 80 4.5 陣列化介電彈性體致動器測試 81 4.5.1 電壓開關致動器之效果 81 4.5.2 不同腔體體積之比較 83 第五章、結論 85 5.1 光固化彈性體列印 85 5.2 可拉伸導電複合結構 86 5.3 介電彈性體致動器應用 86 第六章、未來工作 90 6.1 導電薄膜優化改良 90 6.2 腔體設計與改良 91 6.3 介電彈性體致動器應用開發 92 參考文獻 94

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