CN116218005A - Liquid crystal elastomer actuator, preparation method thereof and robot - Google Patents

Abstract

The invention provides a liquid crystal elastomer actuator, a preparation method thereof and a robot, wherein the preparation method comprises the following steps: dissolving a liquid crystal monomer, a first conductive material, a cross-linking agent, a chain extender, a photoinitiator and a catalyst in an organic solvent to obtain a reaction mixed solution, transferring the reaction mixed solution into a mold, reacting at room temperature under a dark condition, and heating and drying after the reaction is finished to obtain a pre-polymerized liquid crystal elastomer film; dissolving a second conductive material in an organic solvent to obtain a conductive solution, soaking the pre-polymerized liquid crystal elastomer film in the conductive solution for a preset time, and then drying to obtain the liquid crystal elastomer film; and carrying out ultraviolet curing treatment on the liquid crystal elastomer film to obtain the liquid crystal elastomer actuator. The liquid crystal elastomer actuator prepared by the method provided by the invention has relatively stable and superior electric response and self-sensing deformation performance.

Description

A liquid crystal elastomer actuator and its preparation method, robot

technical field

The invention relates to the technical field of liquid crystals, in particular to a liquid crystal elastomer actuator, a preparation method thereof, and a robot.

Background technique

Mimicking biologically intelligent responses in artificial systems is a long-standing challenge that requires the integration of stimulus-responsive motion and sensory feedback in robotic bodies. At present, rigid robots have made progress in programmable control. These rigid bodies rely on separate computational modeling and electric drives to achieve prescribed robot movements, while complex computing systems, power supplies, and motors limit the size and height of robot bodies. level of exercise fitness. Achieving intelligent responses in soft robots requires new design strategies that enable tightly coupled actuation and sensing mechanisms.

As one of the most representative soft actuators, liquid crystal elastomers can achieve large and reversible deformations under various environments and stimulation methods, and have important applications in the fields of artificial muscles and robots. So far, many properties of liquid crystal elastomers, such as shape deformation amplitude and actuation speed, have been greatly improved. However, the liquid crystal elastomer itself cannot feed back the detection signal in real time, which limits its precision in performing the task. Therefore, it is necessary to add a sensing function to the actuator to accurately obtain its deformation degree, and even automatically control the actuator according to the real-time feedback signal. As a stimuli-responsive material, liquid crystal elastomers can produce very large and reversible deformations when subjected to external stimuli such as heat, light, and electricity. Compared with stimulation methods such as heat and light, the power supply is convenient to use and low in cost, and is also suitable for situations with insufficient lighting. In addition, electro-responsive liquid crystal elastomers can deform in response to electrical stimuli and provide real-time feedback on the deformation. Combining liquid crystal elastomers with conductive materials can be deformed by Joule heating. However, in the prior art, after the conductive material is added to the liquid crystal elastomer, the electrical conductivity is low, resulting in poor electrical response and self-sensing deformation performance of the prepared liquid crystal elastomer actuator; The loss of conductivity leads to the unstable performance of the prepared liquid crystal elastomer actuators in terms of electrical response and self-sensing deformation.

Contents of the invention

The technical problem solved by the present invention is that in the prior art, after the conductive material is added to the liquid crystal elastomer, the electrical conductivity is low, resulting in poor electrical response and self-perceived deformation performance of the prepared liquid crystal elastomer actuator; or in the process of recycling The rapid loss of electrical conductivity in , leads to the instability of the performance of the prepared liquid crystal elastomer actuators in terms of electrical response and self-sensing deformation.

In order to solve at least one of the above-mentioned problems, the technical solution adopted in the present invention is:

A method for preparing a liquid crystal elastomer actuator, comprising:

Step S1, dissolving the liquid crystal monomer, the first conductive material, the cross-linking agent, the chain extender, the photoinitiator and the catalyst in an organic solvent to obtain a reaction mixture solution, transferring the reaction mixture solution to a mold under light-proof conditions Reaction at room temperature, after the reaction is completed, heat and dry to obtain a pre-polymerized liquid crystal elastomer film;

Step S2, dissolving the second conductive material in an organic solvent to obtain a conductive solution, soaking the pre-polymerized liquid crystal elastomer film in the conductive solution for a preset time, and then drying it to obtain a liquid crystal elastomer film;

Step S3, performing ultraviolet light curing treatment on the liquid crystal elastomer film to obtain a liquid crystal elastomer actuator.

Preferably, the first conductive material includes at least one of carbon nanotubes, carbon black, graphite and Mxene, and the second conductive material includes at least one of carbon nanotubes, carbon black, graphite and Mxene.

Preferably, both the first conductive material and the second conductive material include carbon black and graphite.

Preferably, the mass ratio of the graphite to the carbon black in the first conductive material and the second conductive material is 4-6:4-6.

Preferably, the liquid crystal monomer includes 2-methyl-1,4-phenylene bis(4-(3-(acryloyloxy)propoxy)benzoate) and 2-methyl-1 , one of 4-phenylene bis(4-((6-(acryloyloxy)hexyl)oxy)benzoate), the crosslinking agent includes pentaerythritol tetrakis(3-mercaptopropionic acid) ester, pentaerythritol triacrylate and polyethylene glycol diacrylate, and the chain extender includes 3,6-dioxa-1,8-octanedithiol and 2,2-oxybis( A kind of in ethane-1-thiol), described photoinitiator comprises a kind of in 2-hydroxyl-4'-(2-hydroxyethoxy)-2-methyl propiophenone and benzoin dimethyl ether , the catalyst comprises dipropylamine.

Preferably, the mass ratio of the liquid crystal monomer, the crosslinking agent and the chain extender is 25-50:1:5-8.

Preferably, the mass fraction of the crosslinking agent in the liquid crystal monomer, the crosslinking agent, the first conductive material, the chain extender, the photoinitiator and the catalyst is 1.5%.

Preferably, the ratio of the total mass of the liquid crystal monomer, the crosslinking agent and the chain extender to the mass of the first conductive material is 34-56:1.

Compared with the prior art, the present invention, in the process of preparing the liquid crystal elastomer actuator, uniformly mixes the first conductive material in the reaction mixture solution before the prepolymerization reaction, so that the first conductive material is uniformly distributed in the liquid crystal elastomer film In the process, it is ensured that the prepared liquid crystal elastomer actuator has a small conductivity loss during the recycling process; after the pre-polymerization reaction, the second conductive material is uniformly introduced on the surface of the pre-polymerized liquid crystal elastomer film, thereby ensuring the prepared The liquid crystal elastomer actuator has a high conductivity. Therefore, compared with the prior art, the liquid crystal elastomer actuator prepared by the method provided by the present invention has more stable and superior performance of electrical response and self-sensing deformation.

The present invention also provides a liquid crystal elastomer actuator, which is prepared by the above-mentioned preparation method of the liquid crystal elastomer actuator.

The present invention also provides a robot, which includes the above-mentioned liquid crystal elastomer actuator.

Description of drawings

Fig. 1 is the process flow diagram of preparing liquid crystal elastomer actuator according to the embodiment of the present invention;

Figure 2 shows the change in resistance of conductive films prepared with different ratios of carbon black and graphite as the temperature rises from 40°C to 100°C;

3 is a schematic diagram of the process of preparing a liquid crystal elastomer actuator according to an embodiment of the present invention;

Fig. 4 is the curve of resistance changing with time during the cyclic test process of the liquid crystal elastomer actuator prepared in the comparative example;

Fig. 5 is the curve that resistance changes with time during the cyclic test process of the liquid crystal elastomer actuator prepared in embodiment 1;

Fig. 6 is a stress-strain graph of the liquid crystal elastomer actuator prepared in Example 2-9.

Detailed ways

In order to make the above objects, features and advantages of the present invention more comprehensible, specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

It should be noted that, in the case of no conflict, the features in the embodiments of the present invention can be combined with each other. The meanings of the terms "comprising", "comprising", "containing" and "having" are non-limiting, that is, other steps and other components that do not affect the result can be added. The above terms encompass the terms "consisting of" and "consisting essentially of". Unless otherwise specified, materials, equipment, and reagents are commercially available.

As shown in Figure 1, an embodiment of the present invention provides a method for preparing a liquid crystal elastomer actuator, including:

Step S1, dissolving the liquid crystal monomer, the first conductive material, the cross-linking agent, the chain extender, the photoinitiator and the catalyst in an organic solvent to obtain a reaction mixture solution, transferring the reaction mixture solution to a mold under light-proof conditions Reaction at room temperature, after the reaction is completed, heat and dry to obtain a pre-polymerized liquid crystal elastomer film;

Step S2, dissolving the second conductive material in an organic solvent to obtain a conductive solution, soaking the pre-polymerized liquid crystal elastomer film in the conductive solution for a preset time, and then drying it to obtain a liquid crystal elastomer film;

Step S3, performing ultraviolet light curing treatment on the liquid crystal elastomer film to obtain a liquid crystal elastomer actuator.

If the conductive material is only added to the liquid crystal elastomer before the pre-polymerization reaction, it is necessary to add a conductive material with a mass fraction of 15% to detect a very low conductivity, and the flexibility and elasticity of the liquid crystal elastomer will be greatly reduced. . Incorporating conductive materials into LCEs only after prepolymerization, LCE actuators exhibit rapid conductivity loss during cycling.

In the embodiment of the present invention, in the process of preparing the liquid crystal elastomer actuator, before the pre-polymerization reaction, the first conductive material is evenly mixed in the reaction mixture solution, so that the first conductive material is uniformly distributed in the liquid crystal elastomer film, Ensure that the prepared liquid crystal elastomer actuator has a small loss of conductivity during the recycling process; after the pre-polymerization reaction, uniformly introduce the second conductive material on the surface of the pre-polymerized liquid crystal elastomer film, thereby ensuring that the prepared liquid crystal Elastomer actuators are highly conductive. Therefore, compared with the prior art, the liquid crystal elastomer actuator prepared by the method provided by the present invention has more stable and superior performance of electrical response and self-sensing deformation.

The principles of electrical response and self-sensing deformation of the liquid crystal elastomer actuator provided by the present invention are as follows: by designing a circuit, applying a voltage to the liquid crystal elastomer, the liquid crystal elastomer generates Joule heat under the action of the voltage, causing the liquid crystal elastomer to deform . When the liquid crystal elastomer is deformed, the network of the liquid crystal elastomer polymer will become tight or loose, and the distance of the conductive material inside the liquid crystal elastomer will change, resulting in a change in the resistance of the liquid crystal elastomer. During the deformation process of the liquid crystal elastomer in response to electrical stimulation, changes in electrical signals can be observed, and the changes in electrical signals reflect the deformation of the liquid crystal elastomer.

Specifically, the first conductive material includes at least one of carbon nanotubes, carbon black, graphite and Mxene, and the second conductive material includes at least one of carbon nanotubes, carbon black, graphite and Mxene. These conductive materials have high electrical conductivity and high electrothermal conversion efficiency.

In an embodiment of the present invention, both the first conductive material and the second conductive material include carbon black and graphite. The resistance of the conductive material will inevitably change with the change of temperature, so the resistance of the prepared liquid crystal elastomer actuator will also change with the change of temperature, which will affect the performance of the liquid crystal elastomer actuator under the action of electric drive. shape perception. Therefore, it is necessary to weaken the influence of the resistance of the conductive material in the liquid crystal elastomer on the sensing deformation ability of the liquid crystal elastomer actuator as it changes with temperature. In an embodiment of the present invention, both the first conductive material and the second conductive material include carbon black and graphite. Since the temperature coefficient of resistance (TCR) of graphite is positive and the temperature coefficient of resistance (TCR) of carbon black is negative, the magnitude of the resistance of the two with temperature changes can offset each other to a certain extent, thereby reducing the impact of temperature changes on liquid crystal elastomers. Effects on the ability of actuators to perceive deformation.

In the embodiment of the present invention, preferably, the mass ratio of the carbon black to the graphite in the first conductive material and the second conductive material is 4-6:4-6. By setting the mass ratio to 1:0 (100% graphite), 8:2 (mixed membrane 1), 6:4 (mixed membrane 2), 4:6 (mixed membrane 3), 2:8 (mixed membrane 4) , 0:1 (100% carbon black) graphite and carbon black are mixed to make a conductive film, and the conductive film is heated from 40°C to 100°C, and the resistance change of the conductive film is detected during this process, as shown in Figure 2 As shown in the graph, it can be seen from Figure 2 that when the temperature changes from 40°C to 100°C, the pure graphite conductive film, mixed film 1, mixed film 2, mixed film 3, mixed film 4, and pure carbon black conductive film The resistance changes were 12.2%, 7.3%, 4.2%, 1.7%, -3.4% and -6.3%, respectively. When the mass ratio of graphite to carbon black is 4:6, the resistance of the conductive film varies with temperature at a minimum of 1.7%, which indicates that when the mass ratio of graphite to carbon black is 4:6, the conductive material added to the liquid crystal elastomer Among them, the influence of temperature change on the deformation ability of the liquid crystal elastomer actuator can be better reduced, so that the deformation perception ability of the liquid crystal elastomer actuator can be further improved.

In an embodiment of the present invention, in the step S1, the liquid crystal monomer includes 2-methyl-1,4-phenylene bis(4-(3-(acryloyloxy)propoxy)benzene One of formate) (RM257) and 2-methyl-1,4-phenylene bis(4-((6-(acryloyloxy)hexyl)oxy)benzoate) (RM82) Kind, the cross-linking agent includes one of pentaerythritol tetrakis (3-mercaptopropionate) ester (PETMP), pentaerythritol triacrylate (PETA) and polyethylene glycol diacrylate (PEGDA), the chain extender Including one of 3,6-dioxa-1,8-octanedithiol (EDDET) and 2,2-oxybis(ethane-1-thiol) (DMDE), the photoinitiated Agents include one of 2-hydroxy-4'-(2-hydroxyethoxy)-2-methylpropiophenone (HHMP) and benzoin dimethyl ether (I-651), and the catalyst includes dipropylamine (DPA ), the organic solvent used to prepare the reaction mixture solution includes one of toluene, chloroform, methylene chloride and N,N-dimethylformamide (DMF).

In an embodiment of the present invention, in order to further optimize the flexibility and elasticity of the liquid crystal elastomer actuator, in the step S1, the mass ratio of the liquid crystal monomer, the crosslinking agent and the chain extender is 25-50:1:5-8.

In an embodiment of the present invention, in the step S1, when the mass fraction of the crosslinking agent in the liquid crystal monomer, crosslinking agent, first conductive material, chain extender, photoinitiator and catalyst is 1.5%, Liquid crystal elastomer actuators exhibit more excellent compliance and elasticity.

In an embodiment of the present invention, in order to further improve the electrical response and self-sensing deformation performance of the liquid crystal elastomer actuator, in the step S1, the three liquid crystal monomers, the crosslinking agent and the chain extender The ratio of the total mass of the first conductive material to the mass of the first conductive material is 34-56:1.

In the embodiment of the present invention, in the step S1, in order to further optimize the efficiency of synthesizing the liquid crystal elastomer film, the total mass of the liquid crystal monomer, the crosslinking agent and the chain extender, the The mass ratio of the photoinitiator to the catalyst is 1000:120:1.

In the embodiment of the present invention, in the step S1, the reaction time is 12 hours. Setting the reaction time as 12h is conducive to the full progress of the reaction.

In the embodiment of the present invention, in the step S1, the temperature of the drying treatment is 85° C., and the drying time is 24 hours. It is beneficial to fully remove the solvent in the pre-polymerized liquid crystal elastomer film.

In an embodiment of the present invention, in the step S2, the organic solvent includes one of toluene, chloroform, methylene chloride and N,N-dimethylformamide (DMF).

In an embodiment of the present invention, in the step S2, the concentration of the conductive solution is 5 mg/mL, the preset time is 6 hours, the drying is performed at room temperature in air, and the drying time is 6 hours.

In an embodiment of the present invention, in the step S2, the ultraviolet light used in the ultraviolet curing treatment has a wavelength of 365 nm, a treatment power of the ultraviolet light of 50 mW/cm ² , and a treatment time of 30 minutes. It is beneficial to better curing of the liquid crystal elastomer film.

An embodiment of the present invention also provides a robot, which includes the liquid crystal elastomer actuator as described above.

Below in conjunction with specific embodiment, further illustrate the present invention. It should be understood that these examples are only used to illustrate the present invention and are not intended to limit the scope of the present invention. The experimental methods not indicating specific conditions in the following examples are generally in accordance with the conditions suggested by the manufacturer. Fig. 3 is a schematic diagram of the process of preparing a liquid crystal elastomer actuator in an embodiment of the present invention.

Example 1

1.1. Add 2g of liquid crystal monomer RM257 into a brown sample bottle, and add 0.523g of toluene to dissolve it. Put the brown sample bottle in an oven at 85°C for 30 minutes to completely dissolve the liquid crystal monomer RM257, and obtain a liquid crystal single body solution.

1.2. Add 0.028g graphite, 0.042g carbon black, 0.08g crosslinking agent PETMP, 0.64g chain extender EDDET, 0.022g photoinitiator HHMP, 0.0027g catalyst DPA and 0.135g toluene to the liquid crystal monomer solution , to obtain a reaction mixture solution.

1.3. Put the reaction mixture solution into a vacuum drying oven for 1min to remove the bubbles caused by mixing, transfer the solution to a square polytetrafluoroethylene (PFTE) mold with a thickness of 1mm, and react at room temperature for 12h. Dry in an oven at 85° C. for 24 hours to obtain a pre-polymerized liquid crystal elastomer film.

1.4. Dissolve 0.02g of graphite and 0.03g of carbon black in 10mL of toluene to obtain a conductive solution, carry out ultrasonic dispersion treatment on the conductive solution for 20min, soak the prepared pre-polymerized liquid crystal elastomer film in the conductive solution for 6h, After soaking, the solution was taken out with a pipette, and dried in the air for 6 hours. After drying, excess conductive particles on the surface were gently cleaned with tape or cotton swab to obtain a liquid crystal elastomer film.

1.5. Use a weight of 50g to hang on the liquid crystal elastomer film for 2 hours to make it align the liquid crystal elastomer film. At the same time, use ultraviolet light with a wavelength of 365nm to cure the liquid crystal elastomer film to obtain a liquid crystal elastomer. device, wherein the curing power of the ultraviolet light is 50mW/cm ² , and the curing time is 30min.

Example 2

The difference from Example 1 is that the mass of the cross-linking agent PETMP added to the liquid crystal monomer solution is 0.011 g.

Example 3

The difference from Example 1 is that the mass of the cross-linking agent PETMP added to the liquid crystal monomer solution is 0.015 g.

Example 4

The difference from Example 1 is that the mass of the cross-linking agent PETMP added to the liquid crystal monomer solution is 0.019 g.

Example 5

The difference from Example 1 is that the mass of the cross-linking agent PETMP added to the liquid crystal monomer solution is 0.023 g.

Example 6

The difference from Example 1 is that the mass of the cross-linking agent PETMP added to the liquid crystal monomer solution is 0.027 g.

Example 7

The difference from Example 1 is that the mass of the cross-linking agent PETMP added to the liquid crystal monomer solution is 0.031 g.

Example 8

The difference from Example 1 is that the mass of the cross-linking agent PETMP added to the liquid crystal monomer solution is 0.035 g.

Example 9

The difference from Example 1 is that the mass of the cross-linking agent PETMP added to the liquid crystal monomer solution is 0.039 g.

comparative example

A1. Take 2g of liquid crystal monomer RM257 and add it to a brown sample bottle, and add 0.523g of toluene to dissolve it, put the brown sample bottle in an oven at 85°C for 30min, so that the liquid crystal monomer RM257 is completely dissolved, and obtain a liquid crystal single body solution.

A2. Add 0.028g graphite, 0.042g carbon black, 0.08g crosslinking agent PETMP, 0.64g chain extender EDDET, 0.022g photoinitiator HHMP, 0.0027g catalyst DPA and 0.135g toluene to the liquid crystal monomer solution , to obtain a reaction mixture solution.

A3, put the reaction mixed solution into a vacuum oven for 1min to remove the bubbles caused by mixing, transfer the solution to a square polytetrafluoroethylene (PFTE) mold with a thickness of 1mm, and react for 12h at room temperature. Dry in an oven at 85° C. for 24 hours to obtain a pre-polymerized liquid crystal elastomer film.

A4. Hang a 50g weight on the pre-polymerized liquid crystal elastomer film for 2 hours to orient the pre-polymerized liquid crystal elastomer film. At the same time, use ultraviolet light with a wavelength of 365nm to cure the pre-polymerized liquid crystal elastomer film. , to obtain a liquid crystal elastomer actuator, wherein the curing power of ultraviolet light is 50 mW/cm ² , and the curing time is 30 min.

Experimental example

For the liquid crystal elastomer actuator prepared in the embodiment 1 and the comparative example, the cycle stability test is carried out, and the test results are shown in Figure 4 (comparative example) and Figure 5 (embodiment 1), as can be seen from Figure 4 and Figure 5 It is found that the liquid crystal elastomer actuator prepared in the comparative example, after 10 cycles, the cycle period becomes significantly longer, and the cycle stability of the liquid crystal elastomer actuator is relatively poor; the liquid crystal elastomer actuator prepared in Example 1, the cycle exceeds After 100 times, there is no obvious change in the cycle period, and it can still work stably. The cycle stability of the liquid crystal elastomer actuator is better. It can be seen that in the comparative example, the conductive material is only added to the liquid crystal elastomer before the prepolymerization reaction. Compared with the conductive material added to the liquid crystal elastomer before and after the prepolymerization reaction in Example 1, the prepared liquid crystal elastomer actuator The cycle stability is better.

The tensile test is carried out on the liquid crystal elastomer actuator prepared in Examples 2-9, and the stress-strain curve obtained is shown in Figure 3, and it can be seen from Figure 6 that when the crosslinking agent is in the When the mass fraction in a conductive material, chain extender, photoinitiator and catalyzer was 1.5% (embodiment 2), the elongation at break of liquid crystal elastomer was 327%, and crosslinking agent was in liquid crystal monomer, crosslinking When the mass fraction in the agent, the first conductive material, the chain extender, the photoinitiator and the catalyst increased to 5.0% (Example 9), the elongation at break dropped to 104%. It can be seen that when the mass fraction of the crosslinking agent in the liquid crystal monomer crosslinking agent, first conductive material, chain extender, photoinitiator and catalyst is 1.5%, the liquid crystal elastomer actuator shows more excellent flexibility and elasticity. It should be noted that in Examples 2-9, the mass fractions of the crosslinking agent in the liquid crystal monomer, crosslinking agent, first conductive material, chain extender, photoinitiator and catalyst are 1.5%, 2.0%, 2.5%, 3.0%, 3.5%, 4.0%, 4.5%, 5.0%.

In addition, it should be noted that although the disclosure of the present invention is as above, the protection scope of the disclosure of the present invention is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will all fall within the protection scope of the present invention.

Claims (10)

1. A preparation method of a liquid crystal elastomer actuator, characterized in that, comprising: Step S1, dissolving the liquid crystal monomer, the first conductive material, the cross-linking agent, the chain extender, the photoinitiator and the catalyst in an organic solvent to obtain a reaction mixture solution, transferring the reaction mixture solution to a mold under light-proof conditions Reaction at room temperature, after the reaction is completed, heat and dry to obtain a pre-polymerized liquid crystal elastomer film; Step S2, dissolving the second conductive material in an organic solvent to obtain a conductive solution, soaking the pre-polymerized liquid crystal elastomer film in the conductive solution for a preset time, and then drying it to obtain a liquid crystal elastomer film; Step S3, performing ultraviolet light curing treatment on the liquid crystal elastomer film to obtain a liquid crystal elastomer actuator. 2. The preparation method of liquid crystal elastomer actuator according to claim 1, is characterized in that, described first conductive material comprises at least one in carbon nanotube, carbon black, graphite and Mxene, and described second conductive material The material includes at least one of carbon nanotubes, carbon black, graphite and Mxene. 3. The preparation method of the liquid crystal elastomer actuator according to claim 2, characterized in that, both the first conductive material and the second conductive material comprise carbon black and graphite. 4. the preparation method of liquid crystal elastomer actuator according to claim 3, is characterized in that, the mass ratio of described graphite and described carbon black in described first conductive material and described second conductive material is 4. -6: 4-6. 5. The preparation method of the liquid crystal elastomer actuator according to claim 1, wherein the liquid crystal monomer comprises 2-methyl-1,4-phenylene bis(4-(3-(acryloyl oxy)propoxy)benzoate) and 2-methyl-1,4-phenylenebis(4-((6-(acryloyloxy)hexyl)oxy)benzoate) The cross-linking agent includes one of pentaerythritol tetrakis (3-mercaptopropionate), pentaerythritol triacrylate and polyethylene glycol diacrylate, and the chain extender includes 3,6-dioxo One of hetero-1,8-octanedithiol and 2,2-oxybis(ethane-1-thiol), the photoinitiator includes 2-hydroxyl-4'-(2-hydroxyethyl Oxygen)-2-methylpropiophenone and one of benzoin dimethyl ether, the catalyst includes dipropylamine. 6. The preparation method of the liquid crystal elastomer actuator according to claim 1, characterized in that the mass ratio of the liquid crystal monomer, the crosslinking agent and the chain extender is 25-50:1: 5-8. 7. The preparation method of the liquid crystal elastomer actuator according to claim 6, characterized in that, in the step S1, the crosslinking agent is included in the liquid crystal monomer, the crosslinking agent, the first The mass fraction of the conductive material, the chain extender, the photoinitiator and the catalyst is 1.5%. 8. The preparation method of the liquid crystal elastomer actuator according to claim 6, characterized in that the total mass of the liquid crystal monomer, the crosslinking agent and the chain extender is the same as that of the first conductive The mass ratio of materials is 34-56:1. 9. A liquid crystal elastomer actuator, characterized in that it is produced by the preparation method of a liquid crystal elastomer actuator according to any one of claims 1-8. 10. A robot, characterized by comprising the liquid crystal elastomer actuator according to claim 9.

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