1
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Wan M, Yu K, Zeng H, Khatibi AA, Yin M, Sun H. Novel 4D-printed multi-stable metamaterials: programmability of force-displacement behaviour and deformation sequence. PHILOSOPHICAL TRANSACTIONS. SERIES A, MATHEMATICAL, PHYSICAL, AND ENGINEERING SCIENCES 2024; 382:20230366. [PMID: 39069761 DOI: 10.1098/rsta.2023.0366] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/05/2023] [Revised: 02/22/2024] [Accepted: 03/27/2024] [Indexed: 07/30/2024]
Abstract
The unique properties of metamaterials are determined by the configuration and spatial arrangement of artificially designed unit structures. However, the configuration and mechanical properties of conventional metamaterials are challenging to reverse and adjust. Based on curved beams, two types of novel three-dimensional (3D) multi-stable metamaterials with reconfigurable deformation and tunable mechanical properties are designed and fabricated using a four-dimensional (4D) printing method. The effects of temperature and curved-beam thickness on the force-displacement curves and multi-stable snapping sequence of the 3D multi-stable metamaterials are investigated by finite-element analysis (FEA) and experiments. In addition, based on the designed four-branch multi-stable metamaterials, three- and six-branched multi-stable structures are designed by changing the number of curved-beam branches. It is shown that, owing to shape memory effects, the 3D multi-stable metamaterials can realize mechanical programmability, and the multi-stable deformation sequence can be precisely regulated by varying the temperature and curved-beam thickness. These 4D-printed multi-stable metamaterials provide valuable contributions to the design of programmable multi-stable metamaterials and their applications in soft robots and intelligent structures. This article is part of the theme issue 'Current developments in elastic and acoustic metamaterials science (Part 1)'.
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Affiliation(s)
- Mengqi Wan
- School of Mechanical and Electrical Engineering, Jinling Institute of Technology , Nanjing 211169, People's Republic of China
- State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics , Nanjing 210016, People's Republic of China
| | - Keqin Yu
- Nanjing Fiberglass Research & Design Institute Co., Ltd. , Nanjing 210012, People's Republic of China
| | - Hao Zeng
- School of Physical and Mathematical Sciences, Nanjing Tech University , Nanjing 211800, People's Republic of China
| | - Akbar A Khatibi
- School of Engineering, RMIT University , Bundoora 3083, Australia
| | - Meigui Yin
- State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics , Nanjing 210016, People's Republic of China
- College of Mechanical and Electrical Engineering, Wenzhou University , Wenzhou 325035, People's Republic of China
| | - Huiyu Sun
- State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics , Nanjing 210016, People's Republic of China
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2
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Gao Z, Wang H, Ren P, Zheng G, Lu Y, Peng B, Tang Z, Wu Y, Wang H. Metainterfaces with mechanical, thermal, and active programming properties based on programmable orientation-distributed biometric architectonics. MATERIALS HORIZONS 2024; 11:4037-4053. [PMID: 39016066 DOI: 10.1039/d4mh00570h] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 07/18/2024]
Abstract
Interfaces between different materials crucially determine the performance of multi-material systems, impacting a wide range of industries. Currently, precisely programming interfaces with distinct properties at different localized interface positions remains a challenge, leading to limited interface adaptability and unpredictable interface failures, thus hindering the development of next-generation materials and engineering systems with highly customizable multiphysical interface performances. Our research introduces programmable "metainterfaces" for the first time, featuring engineerable biometric architectonics that allows for mechanically, thermally, and actively programmed distribution of interfacial effects by its orientation, driven by artificial intelligence. Enabled by metainterfaces, we showcased improved mechanical properties of future composite metamaterials by programming interface resistance customized to the decoupling modes of distinct lattice topologies. Additionally, we demonstrate enhanced and programmable impact mechanics in fish scale assemblies equipped with pre-programmed metainterface sheets. The proposed metainterface also allows for coolant flow programming in thermal management systems, opening new avenues for development of highly customizable thermos-mechanical systems. Additionally, we introduce digitally controlled "metadisks" enabled by metainterfaces as novel solutions for actively programmable interface systems in robotics, offering real-time adaptive and intelligent interfacial mechanics. This research sets the foundation for next-generation multi-material systems with precisely programmed interfacial effects, offering broad applicability in areas such as smart materials, advanced thermal management, and intelligent robotics.
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Affiliation(s)
- Zhenyang Gao
- State Key Labortory of Metal Matrix Composites, Shanghai Jiao Tong University, Shanghai, 200240, China.
- School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Hongze Wang
- State Key Labortory of Metal Matrix Composites, Shanghai Jiao Tong University, Shanghai, 200240, China.
- School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China
- Institute of Alumics Materials, Shanghai Jiao Tong University (Anhui), Huaibei, 235000, China
- Shanghai Key Laboratory of Material Laser Processing and Modification, Shanghai, 200240, China
- Anhui Province Industrial Generic Technology Research Center for Alumics Materials, Huaibei Normal University, Huaibei, Anhui 235000, PR China
| | - Pengyuan Ren
- State Key Labortory of Metal Matrix Composites, Shanghai Jiao Tong University, Shanghai, 200240, China.
- School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Gengchen Zheng
- State Key Labortory of Metal Matrix Composites, Shanghai Jiao Tong University, Shanghai, 200240, China.
- School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Yang Lu
- Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, 999077, China
| | - Bokang Peng
- State Key Labortory of Metal Matrix Composites, Shanghai Jiao Tong University, Shanghai, 200240, China.
- School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Zijue Tang
- State Key Labortory of Metal Matrix Composites, Shanghai Jiao Tong University, Shanghai, 200240, China.
- School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Yi Wu
- State Key Labortory of Metal Matrix Composites, Shanghai Jiao Tong University, Shanghai, 200240, China.
- School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China
- Institute of Alumics Materials, Shanghai Jiao Tong University (Anhui), Huaibei, 235000, China
- Anhui Province Industrial Generic Technology Research Center for Alumics Materials, Huaibei Normal University, Huaibei, Anhui 235000, PR China
| | - Haowei Wang
- State Key Labortory of Metal Matrix Composites, Shanghai Jiao Tong University, Shanghai, 200240, China.
- School of Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China
- Institute of Alumics Materials, Shanghai Jiao Tong University (Anhui), Huaibei, 235000, China
- Anhui Province Industrial Generic Technology Research Center for Alumics Materials, Huaibei Normal University, Huaibei, Anhui 235000, PR China
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3
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He Q, Ferracin S, Raney JR. Programmable responsive metamaterials for mechanical computing and robotics. NATURE COMPUTATIONAL SCIENCE 2024; 4:567-573. [PMID: 39191969 DOI: 10.1038/s43588-024-00673-w] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/31/2024] [Accepted: 07/12/2024] [Indexed: 08/29/2024]
Abstract
Unconventional computing based on mechanical metamaterials has been of growing interest, including how such metamaterials might process information via autonomous interactions with their environment. Here we describe recent efforts to combine responsive materials with nonlinear mechanical metamaterials to achieve stimuli-responsive mechanical logic and computation. We also describe some key challenges and opportunities in the design and construction of these devices, including the lack of comprehensive computational tools, and the challenges associated with patterning multi-material mechanisms.
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Affiliation(s)
- Qiguang He
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Samuele Ferracin
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA
| | - Jordan R Raney
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA.
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4
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Zheng Z, Han J, Shi Q, Demir SO, Jiang W, Sitti M. Single-step precision programming of decoupled multiresponsive soft millirobots. Proc Natl Acad Sci U S A 2024; 121:e2320386121. [PMID: 38513101 PMCID: PMC10990116 DOI: 10.1073/pnas.2320386121] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/20/2023] [Accepted: 02/16/2024] [Indexed: 03/23/2024] Open
Abstract
Stimuli-responsive soft robots offer new capabilities for the fields of medical and rehabilitation robotics, artificial intelligence, and soft electronics. Precisely programming the shape morphing and decoupling the multiresponsiveness of such robots is crucial to enable them with ample degrees of freedom and multifunctionality, while ensuring high fabrication accuracy. However, current designs featuring coupled multiresponsiveness or intricate assembly processes face limitations in executing complex transformations and suffer from a lack of precision. Therefore, we propose a one-stepped strategy to program multistep shape-morphing soft millirobots (MSSMs) in response to decoupled environmental stimuli. Our approach involves employing a multilayered elastomer and laser scanning technology to selectively process the structure of MSSMs, achieving a minimum machining precision of 30 μm. The resulting MSSMs are capable of imitating the shape morphing of plants and hand gestures and resemble kirigami, pop-up, and bistable structures. The decoupled multistimuli responsiveness of the MSSMs allows them to conduct shape morphing during locomotion, perform logic circuit control, and remotely repair circuits in response to humidity, temperature, and magnetic field. This strategy presents a paradigm for the effective design and fabrication of untethered soft miniature robots with physical intelligence, advancing the decoupled multiresponsive materials through modular tailoring of robotic body structures and properties to suit specific applications.
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Affiliation(s)
- Zhiqiang Zheng
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart70569, Germany
| | - Jie Han
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart70569, Germany
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, Xi’an710054, China
- School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an710054, China
| | - Qing Shi
- Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing100081, China
- Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing100081, China
| | - Sinan Ozgun Demir
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart70569, Germany
| | - Weitao Jiang
- State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, Xi’an710054, China
- School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an710054, China
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart70569, Germany
- Institute for Biomedical Engineering, ETH Zurich, Zurich8092, Switzerland
- School of Medicine and College of Engineering, Koç University, Istanbul34450, Turkey
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5
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El Elmi A, Pasini D. Tunable sequential pathways through spatial partitioning and frustration tuning in soft metamaterials. SOFT MATTER 2024; 20:1186-1198. [PMID: 38197440 DOI: 10.1039/d3sm01174g] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/11/2024]
Abstract
Elastic instabilities have been leveraged in soft metamaterials to attain novel functionalities such as mechanical memory and sequential pathways. Pathways have been realized in complex media or within a collection of hysteretic elements. However, much less has been explored in frustrated and partitioned soft metamaterials. In this work, we introduce spatial partitioning as a method to localize deformation in sub-regions of a large and soft metamaterial. The partitioning is achieved through the strategic arrangement of soft inclusions in a soft lattice, which form distinct regions behaving as mechanical units. We examine two partitions: an equally spaced layer partition with mechanical units connected in series, and a cross partition, represented by interconnected series of mechanical units in parallel. Sequential pathways are obtained by frustrating the partitioned metamaterial post-manufacture and are characterized by tracking the polarization change in each partition region. Through a combination of experiments and simulations, we demonstrate that partitioning enables tuning the pathway from longitudinal with weak interactions to a pathway exhibiting strong interactions rising from geometric incompatibility and central domain rotation. We show that tuning the level of uniform lateral pre-strain provides a wide range of tunability from disabling to modifying the sequential pathway. We also show that imposing a nonuniform confinement and altering the tilting of one or two of the domain edges enables to program the pathway, access a larger set of states, and tune the level of interaction between the regions.
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Affiliation(s)
- Asma El Elmi
- Department of Mechanical Engineering, McGill University, 817 Sherbrooke St. West, H3A 0C3 Montréal, Québec, Canada.
| | - Damiano Pasini
- Department of Mechanical Engineering, McGill University, 817 Sherbrooke St. West, H3A 0C3 Montréal, Québec, Canada.
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6
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Jiao W, Shu H, Tournat V, Yasuda H, Raney JR. Phase transitions in 2D multistable mechanical metamaterials via collisions of soliton-like pulses. Nat Commun 2024; 15:333. [PMID: 38184613 PMCID: PMC10771479 DOI: 10.1038/s41467-023-44293-w] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/10/2023] [Accepted: 12/07/2023] [Indexed: 01/08/2024] Open
Abstract
In recent years, mechanical metamaterials have been developed that support the propagation of an intriguing variety of nonlinear waves, including transition waves and vector solitons (solitons with coupling between multiple degrees of freedom). Here we report observations of phase transitions in 2D multistable mechanical metamaterials that are initiated by collisions of soliton-like pulses in the metamaterial. Analogous to first-order phase transitions in crystalline solids, we observe that the multistable metamaterials support phase transitions if the new phase meets or exceeds a critical nucleus size. If this criterion is met, the new phase subsequently propagates in the form of transition waves, converting the rest of the metamaterial to the new phase. More interestingly, we numerically show, using an experimentally validated model, that the critical nucleus can be formed via collisions of soliton-like pulses. Moreover, the rich direction-dependent behavior of the nonlinear pulses enables control of the location of nucleation and the spatio-temporal shape of the growing phase.
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Affiliation(s)
- Weijian Jiao
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA
- School of Aerospace Engineering and Applied Mechanics, Tongji University, Shanghai, China
| | - Hang Shu
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA
| | - Vincent Tournat
- Laboratoire d'Acoustique de l'Université du Mans (LAUM), UMR 6613, Institut d'Acoustique - Graduate School (IA-GS), CNRS, Le Mans Université, Le Mans, France
| | - Hiromi Yasuda
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA
- Aviation Technology Directorate, Japan Aerospace Exploration Agency, Mitaka, Tokyo, Japan
- Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency, Sagamihara, Kanagawa, Japan
| | - Jordan R Raney
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA.
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7
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Yang Y, Meng L, Zhang J, Gao Y, Hao Z, Liu Y, Niu M, Zhang X, Liu X, Liu S. Near-Infrared Light-Driven MXene/Liquid Crystal Elastomer Bimorph Membranes for Closed-Loop Controlled Self-Sensing Bionic Robots. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2307862. [PMID: 37985651 PMCID: PMC10787073 DOI: 10.1002/advs.202307862] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/19/2023] [Indexed: 11/22/2023]
Abstract
More recently, soft actuators have evoked great interest in the next generation of soft robots. Despite significant progress, the majority of current soft actuators suffer from the lack of real-time sensory feedback and self-control functions, prohibiting their effective sensing and multitasking functions. Therefore, in this work, a near-infrared-driven bimorph membrane, with self-sensing and feedback loop control functions, is produced by layer by layer (LBL) assembling MXene/PDDA (PM) onto liquid crystal elastomer (LCE) film. The versatile integration strategy successfully prevents the separation issues that arise from moduli mismatch between the sensing and the actuating layers, ultimately resulting in a stable and tightly bonded interface adhesion. As a result, the resultant membrane exhibited excellent mechanical toughness (tensile strengths equal to 16.3 MPa (||)), strong actuation properties (actuation stress equal to 1.56 MPa), and stable self-sensing (gauge factor equal to 4.72) capabilities. When applying the near-infrared (NIR) laser control, the system can perform grasping, traction, and crawling movements. Furthermore, the wing actuation and the closed-loop controlled motion are demonstrated in combination with the insect microcontroller unit (MCU) models. The remote precision control and the self-sensing capabilities of the soft actuator pave a way for complex and precise task modulation in the future.
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Affiliation(s)
- Youwei Yang
- School of Materials Science and Engineering, Zhengzhou University, Zhengzhou, 450001, P. R. China
| | - Lingxian Meng
- School of Materials Science and Engineering, Zhengzhou University, Zhengzhou, 450001, P. R. China
| | - Juzhong Zhang
- School of Materials Science and Engineering, Zhengzhou University, Zhengzhou, 450001, P. R. China
| | - Yadong Gao
- School of Materials Science and Engineering, Zhengzhou University, Zhengzhou, 450001, P. R. China
| | - Zijuan Hao
- School of Materials Science and Engineering, Zhengzhou University, Zhengzhou, 450001, P. R. China
| | - Yang Liu
- School of Chemical Engineering, Zhengzhou University, Zhengzhou, 450001, P. R. China
| | - Mingjun Niu
- School of Materials Science and Engineering, Zhengzhou University, Zhengzhou, 450001, P. R. China
| | - Xiaomeng Zhang
- School of Materials Science and Engineering, Zhengzhou University, Zhengzhou, 450001, P. R. China
| | - Xuying Liu
- School of Materials Science and Engineering, Zhengzhou University, Zhengzhou, 450001, P. R. China
| | - Shuiren Liu
- School of Materials Science and Engineering, Zhengzhou University, Zhengzhou, 450001, P. R. China
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8
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Wang L, Chang Y, Wu S, Zhao RR, Chen W. Physics-aware differentiable design of magnetically actuated kirigami for shape morphing. Nat Commun 2023; 14:8516. [PMID: 38129420 PMCID: PMC10739944 DOI: 10.1038/s41467-023-44303-x] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/29/2023] [Accepted: 12/07/2023] [Indexed: 12/23/2023] Open
Abstract
Shape morphing that transforms morphologies in response to stimuli is crucial for future multifunctional systems. While kirigami holds great promise in enhancing shape-morphing, existing designs primarily focus on kinematics and overlook the underlying physics. This study introduces a differentiable inverse design framework that considers the physical interplay between geometry, materials, and stimuli of active kirigami, made by soft material embedded with magnetic particles, to realize target shape-morphing upon magnetic excitation. We achieve this by combining differentiable kinematics and energy models into a constrained optimization, simultaneously designing the cuts and magnetization orientations to ensure kinematic and physical feasibility. Complex kirigami designs are obtained automatically with unparalleled efficiency, which can be remotely controlled to morph into intricate target shapes and even multiple states. The proposed framework can be extended to accommodate various active systems, bridging geometry and physics to push the frontiers in shape-morphing applications, like flexible electronics and minimally invasive surgery.
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Affiliation(s)
- Liwei Wang
- Department of Mechanical Engineering, Northwestern University, Evanston, IL, 60208, USA
| | - Yilong Chang
- Department of Mechanical Engineering, Stanford University, Stanford, CA, 94305, USA
| | - Shuai Wu
- Department of Mechanical Engineering, Stanford University, Stanford, CA, 94305, USA
| | - Ruike Renee Zhao
- Department of Mechanical Engineering, Stanford University, Stanford, CA, 94305, USA
| | - Wei Chen
- Department of Mechanical Engineering, Northwestern University, Evanston, IL, 60208, USA.
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9
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Jiao P, Mueller J, Raney JR, Zheng XR, Alavi AH. Mechanical metamaterials and beyond. Nat Commun 2023; 14:6004. [PMID: 37752150 PMCID: PMC10522661 DOI: 10.1038/s41467-023-41679-8] [Citation(s) in RCA: 18] [Impact Index Per Article: 18.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/25/2022] [Accepted: 09/14/2023] [Indexed: 09/28/2023] Open
Abstract
Mechanical metamaterials enable the creation of structural materials with unprecedented mechanical properties. However, thus far, research on mechanical metamaterials has focused on passive mechanical metamaterials and the tunability of their mechanical properties. Deep integration of multifunctionality, sensing, electrical actuation, information processing, and advancing data-driven designs are grand challenges in the mechanical metamaterials community that could lead to truly intelligent mechanical metamaterials. In this perspective, we provide an overview of mechanical metamaterials within and beyond their classical mechanical functionalities. We discuss various aspects of data-driven approaches for inverse design and optimization of multifunctional mechanical metamaterials. Our aim is to provide new roadmaps for design and discovery of next-generation active and responsive mechanical metamaterials that can interact with the surrounding environment and adapt to various conditions while inheriting all outstanding mechanical features of classical mechanical metamaterials. Next, we deliberate the emerging mechanical metamaterials with specific functionalities to design informative and scientific intelligent devices. We highlight open challenges ahead of mechanical metamaterial systems at the component and integration levels and their transition into the domain of application beyond their mechanical capabilities.
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Affiliation(s)
- Pengcheng Jiao
- Ocean College, Zhejiang University, Zhoushan, Zhejiang, China
| | - Jochen Mueller
- Department of Civil and Systems Engineering, Johns Hopkins University, Baltimore, MD, USA
| | - Jordan R Raney
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA
| | - Xiaoyu Rayne Zheng
- Department of Materials Science and Engineering, University of California, Berkeley, CA, USA
| | - Amir H Alavi
- Department of Civil and Environmental Engineering, University of Pittsburgh, Pittsburgh, PA, USA.
- Department of Bioengineering, University of Pittsburgh, Pittsburgh, PA, USA.
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10
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He Q, Yin R, Hua Y, Jiao W, Mo C, Shu H, Raney JR. A modular strategy for distributed, embodied control of electronics-free soft robots. SCIENCE ADVANCES 2023; 9:eade9247. [PMID: 37418520 DOI: 10.1126/sciadv.ade9247] [Citation(s) in RCA: 5] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/16/2022] [Accepted: 06/02/2023] [Indexed: 07/09/2023]
Abstract
Robots typically interact with their environments via feedback loops consisting of electronic sensors, microcontrollers, and actuators, which can be bulky and complex. Researchers have sought new strategies for achieving autonomous sensing and control in next-generation soft robots. We describe here an electronics-free approach for autonomous control of soft robots, whose compositional and structural features embody the sensing, control, and actuation feedback loop of their soft bodies. Specifically, we design multiple modular control units that are regulated by responsive materials such as liquid crystal elastomers. These modules enable the robot to sense and respond to different external stimuli (light, heat, and solvents), causing autonomous changes to the robot's trajectory. By combining multiple types of control modules, complex responses can be achieved, such as logical evaluations that require multiple events to occur in the environment before an action is performed. This framework for embodied control offers a new strategy toward autonomous soft robots that operate in uncertain or dynamic environments.
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Affiliation(s)
- Qiguang He
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Rui Yin
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Yucong Hua
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Weijian Jiao
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Chengyang Mo
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Hang Shu
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
| | - Jordan R Raney
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
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11
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Li Z, Wang X, Li X, Wang Z, Zhai W. New Class of Multifunctional Bioinspired Microlattice with Excellent Sound Absorption, Damage Tolerance, and High Specific Strength. ACS APPLIED MATERIALS & INTERFACES 2023; 15:9940-9952. [PMID: 36655583 DOI: 10.1021/acsami.2c19456] [Citation(s) in RCA: 6] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/17/2023]
Abstract
Although mutually independent, simultaneous sound absorption and superior mechanical properties are often sought after in a material. One main challenge in achieving such a material will be on how to design it. Herein, we propose a bamboo-inspired design strategy to overcome the aforementioned challenges. Building on top of the basic octet-truss design, we introduce a hollow-tube architecture to achieve lightweight property and mechanical robustness and a septum-chamber architecture to introduce acoustic resonant cells. The concept is experimentally verified through samples fabricated using selective laser melting with the Inconel 718 alloy. High sound absorption coefficients (>0.99) with broadband spectra, damage-tolerant behavior, high specific strength (up to 81.2 MPa·cm3/g), and high specific energy absorption of 40.1 J/g have been realized in this design. The sound absorption capability is attributed to Helmholtz resonance through the pore-and-cavity morphology of the structure. Microscopically speaking, dissipation primarily occurs via the viscous frictional flow and thermal boundary layers on the air and microlattice interactions at the narrow pores. The high strength is in turn attributed to the near-membrane state of stress in the plate structures and the excellent strength of the base material. Overall, this work presents a new design concept for developing multifunctional metamaterials.
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Affiliation(s)
- Zhendong Li
- School of Traffic & Transportation Engineering, Central South University, Changsha410075, Hunan, China
- Department of Mechanical Engineering, National University of Singapore, Singapore117575, Singapore
| | - Xinxin Wang
- School of Traffic & Transportation Engineering, Central South University, Changsha410075, Hunan, China
| | - Xinwei Li
- Department of Mechanical Engineering, National University of Singapore, Singapore117575, Singapore
| | - Zhonggang Wang
- School of Traffic & Transportation Engineering, Central South University, Changsha410075, Hunan, China
| | - Wei Zhai
- Department of Mechanical Engineering, National University of Singapore, Singapore117575, Singapore
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12
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Dudek KK, Martínez JAI, Ulliac G, Kadic M. Micro-Scale Auxetic Hierarchical Mechanical Metamaterials for Shape Morphing. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2110115. [PMID: 35170092 DOI: 10.1002/adma.202110115] [Citation(s) in RCA: 13] [Impact Index Per Article: 6.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/12/2021] [Revised: 01/19/2022] [Indexed: 06/14/2023]
Abstract
Shape morphing and the possibility of having control over mechanical properties via designed deformations have attracted a lot of attention in the materials community and led to a variety of applications with an emphasis on the space industry. However, current materials normally do not allow to have a full control over the deformation pattern and often fail to replicate such behavior at low scales which is essential in flexible electronics. Thus, in this paper, novel 2D and 3D microscopic hierarchical mechanical metamaterials using mutually-competing substructures within the system that are capable of exhibiting a broad range of the highly unusual auxetic behavior are proposed. Using experiments (3D microprinted polymers) supported by computer simulations, it is shown that such ability can be controlled through geometric design parameters. Finally it is demonstrated that the considered structure can form a composite capable of shape morphing allowing it to deform to a predefined shape.
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Affiliation(s)
- Krzysztof K Dudek
- Institut FEMTO-ST, CNRS, Université Bourgogne Franche-Comté, Besançon, 25030, France
- Institute of Physics, University of Zielona Gora, ul. Szafrana 4a, Zielona Gora, 65-069, Poland
| | | | - Gwenn Ulliac
- Institut FEMTO-ST, CNRS, Université Bourgogne Franche-Comté, Besançon, 25030, France
| | - Muamer Kadic
- Institut FEMTO-ST, CNRS, Université Bourgogne Franche-Comté, Besançon, 25030, France
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Abstract
Different from most existing multistable structures whose multiple stable states are achieved through the combinational effect of bistable units, we invent a generic tristable kirigami cuboid. The three stable states have fundamentally distinct geometric configurations and chirality, and the transformation among them can be realized by tension/compression or clockwise/counterclockwise twist. Tessellating the units in series, a family of multistable metamaterials can be constructed, the mechanical behaviors of which are programmable by the unit geometry, the material of the elastic joints, the number of units, and the loading conditions. As a demonstration of the potential applications, a frequency reconfigurable antenna for 5G triple-band communication is developed based on a tristable unit, and the frequency tunability is verified by experiments. Multistability plays an important role in advanced engineering applications such as metastructures, deployable structures, and reconfigurable robotics. However, most existing multistability design is based on the two-dimensional (2D)/3D series or parallel combinations of bistable unit cells, which are derived from snap-through instability, nonrigid foldable origami structures, and compliant mechanism, due to the lack of a generic multistable unit cell. Here, we develop a tristable kirigami cuboid by creating a set of elastic joints only effective in a specific motion range which integrates the elastic sheets and switchable hinge axes inspired by the kinematic behaviors of a kirigami cuboid with thick facets. The energy barriers between the stable states can be programmed by the geometric design parameters and material properties of the elastic joints. Taking the tristable cuboid as a unit cell, we construct a family of metastructures with multiple stable states. The number of stable states, the combination of unit stable states, and their transform sequences can be programmed by the number of unit cells, unit design parameters, and loading modes and loading sequences. We also apply this tristable cuboid to the design of frequency reconfigurable antenna with three programmable working frequencies, which demonstrates that such versatile multistability and structural diversity facilitate the development of multifunctional materials and devices.
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Abstract
Material phase transitions offer promise for driving motion and managing high-rate energy transfer events; however, engineering conventional phase transitions at a molecular or atomic level is challenging. We overcome this challenge by coupling multiple interacting fields within a metamaterial framework. Specifically, we embed magnetic domains, with nonlinear, orientationally dependent force interactions, within elastic structures to control reversible phase transitions and program high–strain-rate deformation. The resulting high-rate energy transformations are used to enhance elastic recoil, which could be used to drive high-power motion and to quickly dampen impact loading events. The developed Landau free energy–based model for this material system broadens the impact of this advance, setting the stage for metamaterials with wide-ranging compositions, interacting fields, and engineered properties. Solid–solid phase transformations can affect energy transduction and change material properties (e.g., superelasticity in shape memory alloys and soft elasticity in liquid crystal elastomers). Traditionally, phase-transforming materials are based on atomic- or molecular-level thermodynamic and kinetic mechanisms. Here, we develop elasto-magnetic metamaterials that display phase transformation behaviors due to nonlinear interactions between internal elastic structures and embedded, macroscale magnetic domains. These phase transitions, similar to those in shape memory alloys and liquid crystal elastomers, have beneficial changes in strain state and mechanical properties that can drive actuations and manage overall energy transduction. The constitutive response of the elasto-magnetic metamaterial changes as the phase transitions occur, resulting in a nonmonotonic stress–strain relation that can be harnessed to enhance or mitigate energy storage and release under high–strain-rate events, such as impulsive recoil and impact. Using a Landau free energy–based predictive model, we develop a quantitative phase map that relates the geometry and magnetic interactions to the phase transformation. Our work demonstrates how controllable phase transitions in metamaterials offer performance capabilities in energy management and programmable material properties for high-rate applications.
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Qi J, Chen Z, Jiang P, Hu W, Wang Y, Zhao Z, Cao X, Zhang S, Tao R, Li Y, Fang D. Recent Progress in Active Mechanical Metamaterials and Construction Principles. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2022; 9:e2102662. [PMID: 34716676 PMCID: PMC8728820 DOI: 10.1002/advs.202102662] [Citation(s) in RCA: 32] [Impact Index Per Article: 16.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/27/2021] [Revised: 08/31/2021] [Indexed: 05/03/2023]
Abstract
Active mechanical metamaterials (AMMs) (or smart mechanical metamaterials) that combine the configurations of mechanical metamaterials and the active control of stimuli-responsive materials have been widely investigated in recent decades. The elaborate artificial microstructures of mechanical metamaterials and the stimulus response characteristics of smart materials both contribute to AMMs, making them achieve excellent properties beyond the conventional metamaterials. The micro and macro structures of the AMMs are designed based on structural construction principles such as, phase transition, strain mismatch, and mechanical instability. Considering the controllability and efficiency of the stimuli-responsive materials, physical fields such as, the temperature, chemicals, light, electric current, magnetic field, and pressure have been adopted as the external stimuli in practice. In this paper, the frontier works and the latest progress in AMMs from the aspects of the mechanics and materials are reviewed. The functions and engineering applications of the AMMs are also discussed. Finally, existing issues and future perspectives in this field are briefly described. This review is expected to provide the basis and inspiration for the follow-up research on AMMs.
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Affiliation(s)
- Jixiang Qi
- State Key Laboratory of Explosion Science and TechnologyBeijing Institute of TechnologyBeijing100081China
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Zihao Chen
- State Key Laboratory of Explosion Science and TechnologyBeijing Institute of TechnologyBeijing100081China
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Peng Jiang
- State Key Laboratory of Explosion Science and TechnologyBeijing Institute of TechnologyBeijing100081China
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Wenxia Hu
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Yonghuan Wang
- State Key Laboratory of Explosion Science and TechnologyBeijing Institute of TechnologyBeijing100081China
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Zeang Zhao
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Xiaofei Cao
- State Key Laboratory of Explosion Science and TechnologyBeijing Institute of TechnologyBeijing100081China
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Shushan Zhang
- State Key Laboratory of Explosion Science and TechnologyBeijing Institute of TechnologyBeijing100081China
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Ran Tao
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Ying Li
- State Key Laboratory of Explosion Science and TechnologyBeijing Institute of TechnologyBeijing100081China
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
| | - Daining Fang
- Beijing Key Laboratory of Lightweight Multi‐functional Composite Materials and StructuresInstitute of Advanced Structure TechnologyBeijing Institute of TechnologyBeijing100081China
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