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![Scheme of the 12 principles of Green Chemistry [55].](publication/371769402/figure/fig2/AS:11431281169734214@1687439214805/Scheme-of-the-12-principles-of-Green-Chemistry-55.png)
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![Figure 1. Different types of soft actuators (adapted from [32]).](publication/371769402/figure/fig1/AS:11431281169651641@1687439214539/Different-types-of-soft-actuators-adapted-from-32_Q320.jpg)
![Figure 2. Scheme of the 12 principles of Green Chemistry [55].](publication/371769402/figure/fig2/AS:11431281169734214@1687439214805/Scheme-of-the-12-principles-of-Green-Chemistry-55_Q320.jpg)
![Figure 4. Main routes for NIPUs synthesis [106].](publication/371769402/figure/fig4/AS:11431281169706521@1687439215279/Main-routes-for-NIPUs-synthesis-106_Q320.jpg)
Elastomeric materials have great application potential in actuator design and soft robot development. The most common elastomers used for these purposes are polyurethanes, silicones, and acrylic elastomers due to their outstanding physical, mechanical, and electrical properties. Currently, these types of polymers are produced by traditional synthet...
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... Recently, the development of non-isocyanate polyurethanes (NIPU) has gained significant consideration as a sustainable alternative to conventionally synthesized PU. NIPUs can be easily fabricated from renewable resources and do not require the use of toxic isocyanates, making them environmentally-friendly and safer for production as well as for application [5]. One of the most promising alternative approaches for the isocyanate-free synthesis of PUs proceeds via the formation of polyhydroxyurethanes via the reaction of hydroxyl group-containing precursors with cyclic carbonates, and then reacting the resulting product with diamines [6]. ...
Conventional methods for synthesising polyurethane hydrogels encompass toxic isocyanates and organic solvents, limiting their eco-friendliness and ease of synthesis. In response, this study introduces an innovative approach to synthesising fructose-based non-isocyanate polyurethane (NIPU) hydrogel (FNHG), eliminating the need for isocyanates. Initially, fructose-based NIPU (FNPU) was synthesised using dimethyl carbonate and hexamethylene diamine under mild reaction conditions, paving the way for a greener polyurethane variant. Subsequently, a free radical polymerization technique was employed in an aqueous medium. This process allowed for the integration of poly(sodium acrylate), and N, N-methylene bisacrylamide, leading to to the development of FNHG. Remarkably short gelation time of just 30 min at 60 ℃ was achieved, signifying a significant advancement in the synthesis process. The synthesized NIPU-based hydrogels exhibited outstanding efficiency in the removal of crystal violet (CV) and malachite green (MG) dyes from aqueous media. With an impressive removal efficiency of 96.87% for CV and an astounding 99.8% for MG, these hydrogels demonstrated high effectiveness in remediation efforts. The study’s novelty lies in both the synthesis methodology, utilising FNPU, and the exceptional efficiency exhibited by these hydrogels in eliminating diverse dyes from contaminated water. Furthermore, the structure of FNPU was confirmed using FTIR and ¹H NMR spectroscopy, adding robustness to our findings. This research not only presents a solution to the limitations of traditional polyurethane synthesis but also demonstrates the potential of fructose-based NIPU hydrogels (FNHG) as eco-friendly and efficient agents for water purification.
Graphical Abstract
In order to study the influence of the cavity inclination angle bending performance of pneumatic soft actuators, two kinds of soft actuators were designed, one with a five-degree-angle cavity structure, and the other with a hybrid variable-degree-angle cavity structure. The bending performance of zero-degree-angle, five-degree-angle, and hybrid variable-degree-angle soft actuators was investigated by experimental methods and the ABAQUS finite element simulation method. The results show that, under seven different pressure loads, the mean absolute error between the experimental results and the numerical simulation results for the zero-degree-angle soft actuator was 0.926, for the five-degree-angle soft actuator it was 1.472, and for the hybrid variable-degree-angle soft actuator it was 1.22. When the pressure load changed from 4 kPa to 16 kPa, the five-degree-angle soft actuator had the largest range-of-angle variation, with the bending angle increasing 193.31%, from 26.92 degrees to 78.97 degrees. In the same longitudinal displacement, the five-degree-angle soft actuator had the largest lateral displacement variation, and the bending effect was the best compared with the zero-degree-angle soft actuator and the hybrid variable-degree-angle soft actuator. According to the experimental and numerical simulation results, with the same structural parameter design, the cavity tilt angle increases, which can increase the bending angle variation range and improve the bending performance of soft actuators.
