用环境中的蒸汽让机器人就地生成的功能结构更智能
Functionalization of Situated Robots via Vapour
- 用环境蒸汽对现场编织的纤维网进行功能化改造
- 将散光的PVDF纤维转为吸光的聚吡咯接枝结构，效率提升显著
- 适合做轻量化、自适应环境的软体机器人或生物混合系统
在复杂环境中高效运行的关键在于机器人与环境的紧密匹配。就地构建自身结构的机器人（如通过纺丝方式）能充分利用周围材料，但结构功能化仍面临集成难题——多材料纺丝需复杂喷嘴组合，而掺杂法受限于添加剂种类与化学稳定性。本文提出利用环境中可得材料对就地纺成的网状结构进行功能化，减少携带负载并实现结构与环境的唯一匹配。以实例展示：通过暴露于吡咯蒸气，使光学散射的PVDF纤维网转变为具有光学吸收性的聚吡咯接枝结构。展示了两种激活剂输送策略：预先在预制网中注入液体，或在纺丝混合物中预埋激活剂。此概念验证之外，未来还可拓展至生物混合机器人，利用细菌基因组在原位合成特定生物分子。
原文摘要 · Abstract (English)
Tight matching with the environment is key to effective robot operation in complex settings. Situated robots that build their bodies in situ (e.g. by spinning) are uniquely positioned to exploit their surroundings, yet functionalization of these structures remains an integration challenge - multimaterial spinning requires complex spinneret multiplexing, and mixture doping is limited by additive availability and chemical stability. We propose instead using materials available in the environment to functionalize in situ spun webs, reducing payload and uniquely matching the structure to its surroundings. As a demonstration, we transform an optically scattering PVDF fiber web into an optically absorbing, polypyrrole-grafted structure via pyrrole vapour exposure. Two activator-delivery strategies are shown: liquid infusion into a prefabricated web, and activator pre-embedding in the spinning mixture. Beyond this proof-of-concept, we foresee broader applications including biohybrid robots that exploit bacterial genomes for specific biomolecule synthesis in situ.
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