本研究透過化學官能化法將奈米碳管表面進行改質，將奈米碳管置於體積比為1:3之硝酸與硫酸混合酸液中，藉由控制反應時間探討奈米碳管官能化的結果。由實驗結果可知，反應時間為12小時之官能化奈米碳管具有良好的分散性。
將改質後之奈米碳管與聚苯乙烯混合製作出複合材料，在基本特性研究方面，觀察到抗拉強度隨奈米碳管添加量的增加而降低，經由SEM之觀察結果可了解到應是奈米碳管的聚集所導致；而相較於抗拉強度之測試結果，於複合材料之微波升溫以及形狀記憶測試中可以發現，隨著奈米碳管含量的增加，則大幅度的提升其微波升溫與形狀恢復速度。由實驗結果可知，摻雜4 wt%奈米碳管之形狀記憶高分子複合材料具有最快速的微波升溫速率，因此僅需花費2分鐘的時間便可達成形狀的完全恢復。
最後，本研究以摻雜4 wt%奈米碳管之形狀記憶高分子複合材料作為驅動端，並結合以摺紙技巧將PI薄膜製成之彈性結構，組成蠕蟲致動器。在平均五次測試中，該系統可於一分鐘之微波時間內向前移動6 mm之距離；此外，本研究也建構形狀記憶高分子之物理模型，並探討該系統之簡易移動機制。

In this study, the surface of the carbon nanotubes was modified by chemical functionalization. The carbon nanotubes were placed in a mixed acid solution with a volume ratio of 1:3 nitric acid and sulfuric acid, and the results of the functionalization of the carbon nanotubes were investigated by controlling the reaction time. From the experimental results, the functionalized carbon nanotubes having a reaction time of 12 hours have good dispersibility.
In the study of the basic characteristics of composite materials, it was observed that the tensile strength decreased with the increase of carbon nanotube content. Compared with the result of tensile strength test, it can be found that with the increase of the carbon nanotube content, the microwave heating and shape recovery speed are greatly improved. From the experimental results, it can be seen that the shape memory polymer composite with 4 wt% carbon nanotubes have the fastest microwave heating rate, so it takes only 2 minutes to achieve complete shape recovery.
Finally, in this study, a shape memory polymer composite material doped with 4 wt% carbon nanotubes was used as the driving end, combined with an elastic structure made of PI film using origami techniques to form a worm actuator. In the test, the system can move a distance of 6 mm forward in one minute of microwave time. In addition, this research also constructed a physical model of shape memory polymer and explored the simple movement mechanism of the system.

摘要 I
Abstract II
致謝 III
目錄 VI
圖目錄 X
表目錄 XVII
第一章 緒論 1
1.1 前言 1
1.2 研究動機與目的 2
第二章 文獻回顧 4
2.1 微波 4
2.1.1 微波簡介 4
2.1.2 微波加熱原理 4
2.1.3 微波加熱特性 6
2.2 奈米碳管 7
2.2.1 奈米碳管簡介 7
2.2.2 奈米碳管的製備方法 10
2.2.3 奈米碳管的微波吸收性質 15
2.2.4 奈米碳管於微波中的應用 17
2.2.5 奈米碳管的改質 18
2.3 形狀記憶高分子 22
2.3.1 形狀記憶高分子簡介 22
2.3.2 形狀記憶高分子變形機制 24
2.3.3 形狀記憶高分子複合材料 26
2.4 摺紙 34
2.4.1 摺紙簡介 34
2.4.2 形狀記憶材料於摺紙中的應用 37
第三章 研究方法 41
3.1 實驗設計 41
3.2 實驗製程步驟 42
3.2.1 硫酸與硝酸混合液體配製 42
3.2.2 奈米碳管官能化製程 42
3.2.3 奈米碳管/形狀記憶高分子複合材料製備 44
3.2.4 無線蠕蟲致動器製作 45
3.3 實驗儀器設備 47
3.3.1 奈米碳管官能化 47
3.3.2 奈米碳管/形狀記憶高分子複合材料 48
3.3.3 超音波震盪機 51
3.3.4 場發射式掃描電子顯微鏡 51
3.3.5 場發射掃描穿透式球差修正電子顯微鏡 52
3.3.6 拉曼光譜儀 53
3.3.7 傅立葉轉換紅外光譜儀 56
3.3.8 拉伸試驗機 57
3.3.9 微波爐 57
3.3.10 紅外線測溫儀 59
3.3.11 雷射雕刻機台 59
3.4 拉伸試驗 60
3.5 形狀記憶測試 61
3.6 實驗藥品與氣體 63
第四章 研究結果與討論 64
4.1 奈米碳管官能化分析 64
4.1.1 奈米碳管分散性比較 64
4.1.2 奈米碳管元素組成比較 66
4.1.3 奈米碳管晶體結構比較 69
4.1.4 奈米碳管微觀結構分析 71
4.1.5 奈米碳管化學鍵分析 74
4.2 奈米碳管/形狀記憶高分子複合材料之基本性質 76
4.2.1 複合材料之拉伸試驗 76
4.2.2 材料拉伸斷面之微結構觀察 82
4.2.3 複合材料之微波升溫試驗 90
4.2.4 複合材料之形狀記憶試驗 95
4.3 無線蠕蟲致動器運動測試 99
4.3.1 蠕蟲致動器之結構 99
4.3.2 無線蠕蟲致動器之運動 100
4.3.3 無線蠕蟲致動器運動機制與模型 104
第五章 結論與未來展望 111
5.1 結論 111
5.2 未來展望 112
參考文獻 114

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