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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Guo Q, Sun Y, Zhang T, Xie S, Chen X, Zhang Z, Jiang H, Yang L. Bistable Insect-Scale Jumpers with Tunable Energy Barriers for Multimodal Locomotion. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2404404. [PMID: 38973215 PMCID: PMC11425846 DOI: 10.1002/advs.202404404] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/24/2024] [Revised: 06/04/2024] [Indexed: 07/09/2024]
Abstract
Drawing inspiration from the jumping mechanisms of insects (e.g., click beetles), bistable structures can convert slow deformations of soft actuating material into fast jumping motions (i.e., power amplification). However, bistable jumpers often encounter large energy barriers for energy release/re-storage, posing a challenge in achieving multimodal (i.e., height/distance) and continuous jumps at the insect scale (body length under 20 mm). Here, a new offset-buckling bistable design is introduced that features antisymmetric equilibrium states and tunable energy barriers. Leveraging this design, a Boundary Actuation Tunable Energy-barrier (BATE) jumper (body length down to 15 mm) is developed, and transform BATE jumper from height-jump mode (up to 12.7 body lengths) to distance-jump mode (up to 20 body lengths). BATE jumpers can perform agile continuous jumping (within 300 ms for energy release/re-storage times) and real-time status detection is further demonstrated. This insect-level performance of the proposed BATE jumper showcases its potential toward future applications in exploration, search, and rescue.
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Affiliation(s)
- Qingkai Guo
- School of Mechanical EngineeringXi'an Jiaotong UniversityXi'an710049China
| | - Yu Sun
- School of Mechanical EngineeringXi'an Jiaotong UniversityXi'an710049China
| | - Tianxiang Zhang
- School of Mechanical EngineeringXi'an Jiaotong UniversityXi'an710049China
| | - Shiyu Xie
- School of Mechanical EngineeringXi'an Jiaotong UniversityXi'an710049China
| | - Xuefeng Chen
- School of Mechanical EngineeringXi'an Jiaotong UniversityXi'an710049China
| | - Zhuang Zhang
- School of EngineeringWestlake UniversityHangzhouZhejiang310030China
- Westlake Institute for Advanced StudyHangzhouZhejiang310024China
| | - Hanqing Jiang
- School of EngineeringWestlake UniversityHangzhouZhejiang310030China
- Westlake Institute for Advanced StudyHangzhouZhejiang310024China
- Research Center for Industries of the FutureWestlake UniversityHangzhouZhejiang310030China
| | - Laihao Yang
- School of Mechanical EngineeringXi'an Jiaotong UniversityXi'an710049China
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3
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Jiang Y, Li Y, Tong X, Wang Z, Zhou Y, He B. Robotic flytrap with an ultra-sensitive 'trichome' and fast-response 'lobes'. BIOINSPIRATION & BIOMIMETICS 2024; 19:056017. [PMID: 39094623 DOI: 10.1088/1748-3190/ad6abf] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/05/2024] [Accepted: 08/01/2024] [Indexed: 08/04/2024]
Abstract
Nature abounds with examples of ultra-sensitive perception and agile body transformation for highly efficient predation as well as extraordinary adaptation to complex environments. Flytraps, as a representative example, could effectively detect the most minute physical stimulation of insects and respond instantly, inspiring numerous robotic designs and applications. However, current robotic flytraps face challenges in reproducing the ultra-sensitive insect-touch perception. In addition, fast and fully-covered capture of live insects with robotic flytraps remains elusive. Here we report a novel design of a robotic flytrap with an ultra-sensitive 'trichome' and bistable fast-response 'lobes'. Our results show that the 'trichome' of the proposed robotic flytrap could detect and respond to both the external stimulation of 0.45 mN and a tiny touch of a flying bee with a weight of 0.12 g. Besides, once the 'trichome' is triggered, the bistable 'lobes' could instantly close themselves in 0.2 s to form a fully-covered cage to trap the bees, and reopen to set them free after the tests. We introduce the design, modeling, optimization, and verification of the robotic flytrap, and envision broader applications of this technology in ultra-sensitive perception, fast-response grasping, and biomedical engineering studies.
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Affiliation(s)
- Yongkang Jiang
- College of Electronic and Information Engineering, Tongji University, Shanghai 201804, People's Republic of China
- National Key Laboratory of Autonomous Intelligent Unmanned Systems, Tongji University, Shanghai 201804, People's Republic of China
- Frontiers Science Center for Intelligent Autonomous Systems, Shanghai 201210, People's Republic of China
| | - Yingtian Li
- Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, People's Republic of China
| | - Xin Tong
- Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, People's Republic of China
| | - Zhipeng Wang
- College of Electronic and Information Engineering, Tongji University, Shanghai 201804, People's Republic of China
- National Key Laboratory of Autonomous Intelligent Unmanned Systems, Tongji University, Shanghai 201804, People's Republic of China
- Frontiers Science Center for Intelligent Autonomous Systems, Shanghai 201210, People's Republic of China
| | - Yanmin Zhou
- College of Electronic and Information Engineering, Tongji University, Shanghai 201804, People's Republic of China
- National Key Laboratory of Autonomous Intelligent Unmanned Systems, Tongji University, Shanghai 201804, People's Republic of China
- Frontiers Science Center for Intelligent Autonomous Systems, Shanghai 201210, People's Republic of China
| | - Bin He
- College of Electronic and Information Engineering, Tongji University, Shanghai 201804, People's Republic of China
- National Key Laboratory of Autonomous Intelligent Unmanned Systems, Tongji University, Shanghai 201804, People's Republic of China
- Frontiers Science Center for Intelligent Autonomous Systems, Shanghai 201210, People's Republic of China
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4
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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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Zhang M, Fan X, Dong L, Jiang C, Weeger O, Zhou K, Wang D. Voxel Design of Grayscale DLP 3D-Printed Soft Robots. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2309932. [PMID: 38769665 PMCID: PMC11267290 DOI: 10.1002/advs.202309932] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/18/2023] [Indexed: 05/22/2024]
Abstract
Grayscale digital light processing (DLP) printing is a simple yet effective way to realize the variation of material properties by tuning the grayscale value. However, there is a lack of available design methods for grayscale DLP 3D-printed structures due to the complexities arising from the voxel-level grayscale distribution, nonlinear material properties, and intricate structures. Inspired by the dexterous motions of natural organisms, a design and fabrication framework for grayscale DLP-printed soft robots is developed by combining a grayscale-dependent hyperelastic constitutive model and a voxel-based finite-element model. The constitutive model establishes the relationship between the projected grayscale value and the nonlinear mechanical properties, while the voxel-based finite-element model enables fast and efficient calculation of the mechanical performances with arbitrarily distributed material properties. A multiphysics modeling and experimental method is developed to validate the homogenization assumption of the degree of conversion (DoC) variation in a single voxel. The design framework is used to design structures with reduced stress concentration and programmable multimodal motions. This work paves the way for integrated design and fabrication of functional structures using grayscale DLP 3D printing.
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Affiliation(s)
- Mengjie Zhang
- State Key Laboratory of Mechanical System and VibrationSchool of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai200240China
- Meta Robotics InstituteShanghai Jiao Tong UniversityShanghai200240China
| | - Xiru Fan
- State Key Laboratory of Mechanical System and VibrationSchool of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai200240China
- Meta Robotics InstituteShanghai Jiao Tong UniversityShanghai200240China
| | - Le Dong
- State Key Laboratory of Mechanical System and VibrationSchool of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai200240China
- Meta Robotics InstituteShanghai Jiao Tong UniversityShanghai200240China
| | - Chengru Jiang
- State Key Laboratory of Mechanical System and VibrationSchool of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai200240China
- Meta Robotics InstituteShanghai Jiao Tong UniversityShanghai200240China
| | - Oliver Weeger
- Cyber‐Physical Simulation Group & Additive Manufacturing CenterDepartment of Mechanical EngineeringTechnical University of DarmstadtDolivostr. 15, Darmstadt64293HessenGermany
| | - Kun Zhou
- Singapore Centre for 3D PrintingSchool of Mechanical and Aerospace EngineeringNanyang Technological UniversitySingapore639798Singapore
| | - Dong Wang
- State Key Laboratory of Mechanical System and VibrationSchool of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai200240China
- Meta Robotics InstituteShanghai Jiao Tong UniversityShanghai200240China
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6
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Ai L, Yin S, He W, Zhang P, Li Y. Easy-to-actuate multi-compatible truss structures with prescribed reconfiguration. Nat Commun 2024; 15:4886. [PMID: 38849357 PMCID: PMC11161661 DOI: 10.1038/s41467-024-49210-3] [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: 10/30/2023] [Accepted: 05/27/2024] [Indexed: 06/09/2024] Open
Abstract
Multi-stable structures attract great interest because they possess special energy landscapes with domains of attraction around the stable states. Consequently, multi-stable structures have the potential to achieve prescribed reconfiguration with only a few lightweight actuators (such as shape-memory alloy springs), and do not need constant actuation to be locked at a stable state. However, most existing multi-stability designs are based on assembling bi-stable unit cells, which contain multitudes of distractive stable states, diminishing the feasibility of reconfiguration actuation. Another type is by introducing prestress together with kinematic symmetry or nonlinearity to achieve multi-stability, but the resultant structure often suffers the lack of stiffness. To help address these challenges, we firstly introduce the constraints that a truss structure is simultaneously compatible at multiple (more than two) prescribed states. Then, we solve for the design of multi-stable truss structures, named multi-compatible structures in this paper, where redundant stable states are limited. Secondly, we explore minimum energy paths connecting the designed stable states, and compute for a simple and inaccurate pulling actuation guiding the structure to transform along the computed paths. Finally, we fabricated four prototypes to demonstrate that prescribed reconfigurations with easy-actuation have been achieved and applied a quadra-stable structure to the design of a variable stiffness gripper. Altogether, our full-cycle design approach contains multi-stability design, stiffness design, minimum-energy-path finding, and pulling actuation design, which highlights the potential for designing morphing structures with lightweight actuation for practical applications.
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Affiliation(s)
- Lin Ai
- The Institute of Technological Sciences, Wuhan University, Wuhan, Hubei, 430072, China
| | - Shukun Yin
- Andrew and Peggy Cherng Department of Medical Engineering, Division of Engineering and Applied Science, California Institute of Technology; Pasadena, California, 91125, USA
- Hongyi Honor College, Wuhan University, Wuhan, Hubei, 430072, China
| | - Weixia He
- Hongyi Honor College, Wuhan University, Wuhan, Hubei, 430072, China
| | - Peidong Zhang
- The Institute of Technological Sciences, Wuhan University, Wuhan, Hubei, 430072, China
| | - Yang Li
- The Institute of Technological Sciences, Wuhan University, Wuhan, Hubei, 430072, China.
- Wuhan University Shenzhen Research Institute, Shenzhen, 518057, China.
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7
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Risso G, Kudisch M, Ermanni P, Daraio C. Tuning the Properties of Multi-Stable Structures Post-Fabrication Via the Two-Way Shape Memory Polymer Effect. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2308903. [PMID: 38493311 DOI: 10.1002/advs.202308903] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/19/2023] [Revised: 02/12/2024] [Indexed: 03/18/2024]
Abstract
Multi-stable elements are commonly employed to design reconfigurable and adaptive structures, because they enable large and reversible shape changes in response to changing loads, while simultaneously allowing self-locking capabilities. However, existing multi-stable structures have properties that depend on their initial design and cannot be tailored post-fabrication. Here, a novel design approach is presented that combines multi-stable structures with two-way shape memory polymers. By leveraging both the one-way and two-way shape memory effect under bi-axial strain conditions, the structures can re-program their 3D shape, bear loads, and self-actuate. Results demonstrate that the structures' shape and stiffness can be tuned post-fabrication at the user's need and the multi-stability can be suppressed or activated on command. The control of multi-stability prevents undesired snapping of the structures and enables higher load-bearing capability, compared to conventional multi-stable systems. The proposed approach offers the possibility to augment the functionality of existing multi-stable concepts, showing potential for the realization of highly adaptable mechanical structures that can reversibly switch between being mono and multi-stable and that can undergo shape changes in response to a change in temperature.
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Affiliation(s)
- Giada Risso
- Laboratory of Composite Materials and Adaptive Structures, Department of Mechanical and Process Engineering, ETH Zürich, Leonhardstrasse 21, CH-8092, Zürich, Switzerland
| | - Max Kudisch
- Engineering and Applied Science, California Institute of Technology, 1200 E. California Blvd., Pasadena, CA, 91125, USA
| | - Paolo Ermanni
- Laboratory of Composite Materials and Adaptive Structures, Department of Mechanical and Process Engineering, ETH Zürich, Leonhardstrasse 21, CH-8092, Zürich, Switzerland
| | - Chiara Daraio
- Engineering and Applied Science, California Institute of Technology, 1200 E. California Blvd., Pasadena, CA, 91125, USA
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8
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Dong H, Weng T, Zheng K, Sun H, Chen B. Review: Application of 3D Printing Technology in Soft Robots. 3D PRINTING AND ADDITIVE MANUFACTURING 2024; 11:954-976. [PMID: 39359605 PMCID: PMC11442412 DOI: 10.1089/3dp.2023.0127] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 10/04/2024]
Abstract
Soft robots, inspired by living organisms in nature, are primarily made of soft materials, and can be used to perform delicate tasks due to their high flexibility, such as grasping and locomotion. However, it is a challenge to efficiently manufacture soft robots with complex functions. In recent years, 3D printing technology has greatly improved the efficiency and flexibility of manufacturing soft robots. Unlike traditional subtractive manufacturing technologies, 3D printing, as an additive manufacturing method, can directly produce parts of high quality and complex geometry for soft robots without manual errors or costly post-processing. In this review, we investigate the basic concepts and working principles of current 3D printing technologies, including stereolithography, selective laser sintering, material extrusion, and material jetting. The advantages and disadvantages of fabricating soft robots are discussed. Various 3D printing materials for soft robots are introduced, including elastomers, shape memory polymers, hydrogels, composites, and other materials. Their functions and limitations in soft robots are illustrated. The existing 3D-printed soft robots, including soft grippers, soft locomotion robots, and wearable soft robots, are demonstrated. Their application in industrial, manufacturing, service, and assistive medical fields is discussed. We summarize the challenges of 3D printing at the technical level, material level, and application level. The prospects of 3D printing technology in the field of soft robots are explored.
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Affiliation(s)
- Hui Dong
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China
| | - Tao Weng
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China
| | - Kexin Zheng
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China
| | - Hao Sun
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China
| | - Bingxing Chen
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China
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9
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Xian W, Zhan YS, Maiti A, Saab AP, Li Y. Filled Elastomers: Mechanistic and Physics-Driven Modeling and Applications as Smart Materials. Polymers (Basel) 2024; 16:1387. [PMID: 38794580 PMCID: PMC11125212 DOI: 10.3390/polym16101387] [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: 04/15/2024] [Revised: 05/06/2024] [Accepted: 05/07/2024] [Indexed: 05/26/2024] Open
Abstract
Elastomers are made of chain-like molecules to form networks that can sustain large deformation. Rubbers are thermosetting elastomers that are obtained from irreversible curing reactions. Curing reactions create permanent bonds between the molecular chains. On the other hand, thermoplastic elastomers do not need curing reactions. Incorporation of appropriated filler particles, as has been practiced for decades, can significantly enhance mechanical properties of elastomers. However, there are fundamental questions about polymer matrix composites (PMCs) that still elude complete understanding. This is because the macroscopic properties of PMCs depend not only on the overall volume fraction (ϕ) of the filler particles, but also on their spatial distribution (i.e., primary, secondary, and tertiary structure). This work aims at reviewing how the mechanical properties of PMCs are related to the microstructure of filler particles and to the interaction between filler particles and polymer matrices. Overall, soft rubbery matrices dictate the elasticity/hyperelasticity of the PMCs while the reinforcement involves polymer-particle interactions that can significantly influence the mechanical properties of the polymer matrix interface. For ϕ values higher than a threshold, percolation of the filler particles can lead to significant reinforcement. While viscoelastic behavior may be attributed to the soft rubbery component, inelastic behaviors like the Mullins and Payne effects are highly correlated to the microstructures of the polymer matrix and the filler particles, as well as that of the polymer-particle interface. Additionally, the incorporation of specific filler particles within intelligently designed polymer systems has been shown to yield a variety of functional and responsive materials, commonly termed smart materials. We review three types of smart PMCs, i.e., magnetoelastic (M-), shape-memory (SM-), and self-healing (SH-) PMCs, and discuss the constitutive models for these smart materials.
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Affiliation(s)
- Weikang Xian
- Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI 53706, USA; (W.X.); (Y.-S.Z.)
| | - You-Shu Zhan
- Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI 53706, USA; (W.X.); (Y.-S.Z.)
| | - Amitesh Maiti
- Lawrence Livermore National Laboratory, Livermore, CA 94550, USA; (A.M.); (A.P.S.)
| | - Andrew P. Saab
- Lawrence Livermore National Laboratory, Livermore, CA 94550, USA; (A.M.); (A.P.S.)
| | - Ying Li
- Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI 53706, USA; (W.X.); (Y.-S.Z.)
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10
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Luo Y, Patel DK, Li Z, Hu Y, Luo H, Yao L, Majidi C. Intrinsically Multistable Soft Actuator Driven by Mixed-Mode Snap-Through Instabilities. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2307391. [PMID: 38447200 PMCID: PMC11095224 DOI: 10.1002/advs.202307391] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/04/2023] [Revised: 12/07/2023] [Indexed: 03/08/2024]
Abstract
Actuators utilizing snap-through instabilities are widely investigated for high-performance fast actuators and shape reconfigurable structures owing to their rapid response and limited reliance on continuous energy input. However, prevailing approaches typically involve a combination of multiple bistable actuator units and achieving multistability within a single actuator unit still remains an open challenge. Here, a soft actuator is presented that uses shape memory alloy (SMA) and mixed-mode elastic instabilities to achieve intrinsically multistable shape reconfiguration. The multistable actuator unit consists of six stable states, including two pure bending states and four bend-twist states. The actuator is composed of a pre-stretched elastic membrane placed between two elastomeric frames embedded with SMA coils. By controlling the sequence and duration of SMA activation, the actuator is capable of rapid transition between all six stable states within hundreds of milliseconds. Principles of energy minimization are used to identify actuation sequences for various types of stable state transitions. Bending and twisting angles corresponding to various prestretch ratios are recorded based on parameterizations of the actuator's geometry. To demonstrate its application in practical conditions, the multistable actuator is used to perform visual inspection in a confined space, light source tracking during photovoltaic energy harvesting, and agile crawling.
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Affiliation(s)
- Yichi Luo
- Department of Mechanical EngineeringCarnegie Mellon UniversityPittsburghPA15213USA
| | - Dinesh K. Patel
- Human‐Computer Interaction Institute, School of Computer ScienceCarnegie Mellon UniversityPittsburghPA15213USA
| | - Zefang Li
- Department of Mechanical EngineeringCarnegie Mellon UniversityPittsburghPA15213USA
| | - Yafeng Hu
- Department of Materials Science and EngineeringCarnegie Mellon UniversityPittsburghPA15213USA
| | - Hao Luo
- Department of Mechanical EngineeringCarnegie Mellon UniversityPittsburghPA15213USA
| | - Lining Yao
- Human‐Computer Interaction Institute, School of Computer ScienceCarnegie Mellon UniversityPittsburghPA15213USA
| | - Carmel Majidi
- Department of Mechanical EngineeringCarnegie Mellon UniversityPittsburghPA15213USA
- Department of Materials Science and EngineeringCarnegie Mellon UniversityPittsburghPA15213USA
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11
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Zheng Y, Du Y, Chen L, Mao W, Pu Y, Wang S, Wang D. Recent advances in shape memory polymeric nanocomposites for biomedical applications and beyond. Biomater Sci 2024; 12:2033-2040. [PMID: 38517138 DOI: 10.1039/d4bm00004h] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 03/23/2024]
Abstract
Shape memory polymers (SMPs), which initiate shape transformation in response to environmental stimuli, have attracted significant attention in both academic research and technological innovation. The combination of functional nanomaterials and SMPs has led to the emergence of a variety of shape memory polymeric nanocomposites (SMPNs) with multifunctional properties. This has injected new vitality and vigor into fields such as tissue engineering, biomedicine, optical sensing, aerospace and mechanical engineering. In this review article, we present a brief introduction to the fundamentals of SMPs and SMPNs, followed by a discussion of the recent advances in their multifunctional applications in biomedical manufacturing, drug delivery devices, mechanical sensing, micro-engines, etc. The opportunities and challenges in the future development of SMPs are also discussed.
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Affiliation(s)
- Yifan Zheng
- State Key Laboratory of Organic Inorganic Composites, Beijing University of Chemical Technology, Beijing 100029, China.
| | - Yudi Du
- State Key Laboratory of Organic Inorganic Composites, Beijing University of Chemical Technology, Beijing 100029, China.
| | - Ling Chen
- Department of Mechanical Engineering, City University of Hong Kong, Hong Kong, 999077, China.
| | - Wei Mao
- Quzhou Innovation Institute for Chemical Engineering and Materials, Quzhou 324000, China
| | - Yuan Pu
- State Key Laboratory of Organic Inorganic Composites, Beijing University of Chemical Technology, Beijing 100029, China.
| | - Steven Wang
- Department of Mechanical Engineering, City University of Hong Kong, Hong Kong, 999077, China.
| | - Dan Wang
- State Key Laboratory of Organic Inorganic Composites, Beijing University of Chemical Technology, Beijing 100029, China.
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12
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Wang Y, Wang Y, Mushtaq RT, Wei Q. Advancements in Soft Robotics: A Comprehensive Review on Actuation Methods, Materials, and Applications. Polymers (Basel) 2024; 16:1087. [PMID: 38675005 PMCID: PMC11054840 DOI: 10.3390/polym16081087] [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: 02/19/2024] [Revised: 04/10/2024] [Accepted: 04/11/2024] [Indexed: 04/28/2024] Open
Abstract
The flexibility and adaptability of soft robots enable them to perform various tasks in changing environments, such as flower picking, fruit harvesting, in vivo targeted treatment, and information feedback. However, these fulfilled functions are discrepant, based on the varied working environments, driving methods, and materials. To further understand the working principle and research emphasis of soft robots, this paper summarized the current research status of soft robots from the aspects of actuating methods (e.g., humidity, temperature, PH, electricity, pressure, magnetic field, light, biological, and hybrid drive), materials (like hydrogels, shape-memory materials, and other flexible materials) and application areas (camouflage, medical devices, electrical equipment, and grippers, etc.). Finally, we provided some opinions on the technical difficulties and challenges of soft robots to comprehensively comprehend soft robots, lucubrate their applications, and improve the quality of our lives.
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Affiliation(s)
- Yanmei Wang
- Industry Engineering Department, School of Mechanical Engineering, Northwestern Polytechnical University, Xi’an 710072, China; (R.T.M.); (Q.W.)
| | - Yanen Wang
- Industry Engineering Department, School of Mechanical Engineering, Northwestern Polytechnical University, Xi’an 710072, China; (R.T.M.); (Q.W.)
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13
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Byun J, Pal A, Ko J, Sitti M. Integrated mechanical computing for autonomous soft machines. Nat Commun 2024; 15:2933. [PMID: 38575563 PMCID: PMC10995184 DOI: 10.1038/s41467-024-47201-y] [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: 07/20/2023] [Accepted: 03/25/2024] [Indexed: 04/06/2024] Open
Abstract
Mechanical computing offers a new modality to formulate computational autonomy in intelligent matter or machines without any external powering or active elements. Transition (or solitary) waves, induced by nonreciprocity in mechanical metamaterials comprising a chain of bistable elements, have proven to be a key ingredient for dissipation-free transmission and computation of mechanical information. However, advanced processing of mechanical information in existing designs is hindered by its dissipation when interacting with networked logic gates. Here, we present a metamaterial design strategy that allows non-dispersive mechanical solitary waves to compute multi-level cascaded logic functions, termed 'integrated mechanical computing', by propagating through a network of structurally heterogeneous computing units. From a perspective of characteristic potential energy, we establish an analytical framework that helps in understanding the solitary wave-based mechanical computation, and governs the mechanical design of key determinants for realizing cascaded logic computation, such as soliton profile and logic elements. The developed integrated mechanical computing systems are shown to receive, transmit and compute mechanical information to actuate intelligent soft machine prototypes in a seamless and integrated manner. These findings would pave the way for future intelligent robots and machines that perform computational operations between various non-electrical environmental inputs.
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Affiliation(s)
- Junghwan Byun
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
- Soft Hybrid Materials Research Center, Korea Institute of Science and Technology, 02792, Seoul, Republic of Korea
| | - Aniket Pal
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
- Institute of Applied Mechanics, University of Stuttgart, 70569, Stuttgart, Germany
| | - Jongkuk Ko
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
- Department of Chemical and Biological Engineering, Gachon University, Gyeonggi-do, 13120, Republic of Korea
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany.
- Institute for Biomedical Engineering, ETH Zürich, 8092, Zürich, Switzerland.
- School of Medicine and College of Engineering, Koç University, 34450, Istanbul, Turkey.
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14
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Liang Z, Jin B, Zhao H, He Z, Jiang Z, Jiang S. Rotini-like MXene@LCE Actuator with Diverse and Programmable Actuation Based on Dual-mode Synergy. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2305371. [PMID: 38018306 DOI: 10.1002/smll.202305371] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/27/2023] [Revised: 10/22/2023] [Indexed: 11/30/2023]
Abstract
Liquid crystalline elastomer (LCE) exhibits muscle-like actuation upon order-disturbed stimulus, offering ample room for designing soft robotic systems. Multimodal LCE is demonstrated to unleash the potential to perform multitasks. However, each actuation mode is typically isolated. In contrast, coordination between different actuation modes based on an MXene-doped LCE is realized, whose actuation can be triggered either by directly heating/cooling or using near-infrared light due to the photo-thermal effect of MXene. As such, the two activation modes (heat and light) not only can work individually to offer stable actuation under different conditions but also can collaborate synergistically to generate more intelligent motions, such as achieving the brake and turn of an autonomous rolling. The principle therefore can diversify the design principles for multifunctional soft actuators and robotics.
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Affiliation(s)
- Ziwei Liang
- Institute of Safety Science and Engineering, School of Mechanical and Automotive Engineering, South China University of Technology, Wushan Road 381, Guangzhou, 510641, China
- Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing, South China University of Technology, Guangzhou, 510641, China
| | - Binjie Jin
- Center for X-Mechanics, Department of Engineering Mechanics, Zhejiang University, Hangzhou, 310027, China
| | - Haotian Zhao
- Institute of Safety Science and Engineering, School of Mechanical and Automotive Engineering, South China University of Technology, Wushan Road 381, Guangzhou, 510641, China
- Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing, South China University of Technology, Guangzhou, 510641, China
| | - Zhenhua He
- Institute of Safety Science and Engineering, School of Mechanical and Automotive Engineering, South China University of Technology, Wushan Road 381, Guangzhou, 510641, China
- Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing, South China University of Technology, Guangzhou, 510641, China
| | - Zhanghe Jiang
- Guangzhou Academy of Special Mechanical and Electrical Equipment Inspection & Testing, Guangzhou, 510180, China
| | - Saihua Jiang
- Institute of Safety Science and Engineering, School of Mechanical and Automotive Engineering, South China University of Technology, Wushan Road 381, Guangzhou, 510641, China
- Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing, South China University of Technology, Guangzhou, 510641, China
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15
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Jin L, Yang S. Engineering Kirigami Frameworks Toward Real-World Applications. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2308560. [PMID: 37983878 DOI: 10.1002/adma.202308560] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/22/2023] [Revised: 11/05/2023] [Indexed: 11/22/2023]
Abstract
The surge in advanced manufacturing techniques has led to a paradigm shift in the realm of material design from developing completely new chemistry to tailoring geometry within existing materials. Kirigami, evolved from a traditional cultural and artistic craft of cutting and folding, has emerged as a powerful framework that endows simple 2D sheets with unique mechanical, thermal, optical, and acoustic properties, as well as shape-shifting capabilities. Given its flexibility, versatility, and ease of fabrication, there are significant efforts in developing kirigami algorithms to create various architectured materials for a wide range of applications. This review summarizes the fundamental mechanisms that govern the transformation of kirigami structures and elucidates how these mechanisms contribute to their distinctive properties, including high stretchability and adaptability, tunable surface topography, programmable shape morphing, and characteristics of bistability and multistability. It then highlights several promising applications enabled by the unique kirigami designs and concludes with an outlook on the future challenges and perspectives of kirigami-inspired metamaterials toward real-world applications.
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Affiliation(s)
- Lishuai Jin
- Department of Materials Science and Engineering, University of Pennsylvania, 3231 Walnut Street, Philadelphia, PA, 19104, USA
| | - Shu Yang
- Department of Materials Science and Engineering, University of Pennsylvania, 3231 Walnut Street, Philadelphia, PA, 19104, USA
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16
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Wang Z, Chen Y, Ma Y, Wang J. Bioinspired Stimuli-Responsive Materials for Soft Actuators. Biomimetics (Basel) 2024; 9:128. [PMID: 38534813 DOI: 10.3390/biomimetics9030128] [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: 01/29/2024] [Revised: 02/16/2024] [Accepted: 02/19/2024] [Indexed: 03/28/2024] Open
Abstract
Biological species can walk, swim, fly, jump, and climb with fast response speeds and motion complexity. These remarkable functions are accomplished by means of soft actuation organisms, which are commonly composed of muscle tissue systems. To achieve the creation of their biomimetic artificial counterparts, various biomimetic stimuli-responsive materials have been synthesized and developed in recent decades. They can respond to various external stimuli in the form of structural or morphological transformations by actively or passively converting input energy into mechanical energy. They are the core element of soft actuators for typical smart devices like soft robots, artificial muscles, intelligent sensors and nanogenerators. Significant progress has been made in the development of bioinspired stimuli-responsive materials. However, these materials have not been comprehensively summarized with specific actuation mechanisms in the literature. In this review, we will discuss recent advances in biomimetic stimuli-responsive materials that are instrumental for soft actuators. Firstly, different stimuli-responsive principles for soft actuators are discussed, including fluidic, electrical, thermal, magnetic, light, and chemical stimuli. We further summarize the state-of-the-art stimuli-responsive materials for soft actuators and explore the advantages and disadvantages of using electroactive polymers, magnetic soft composites, photo-thermal responsive polymers, shape memory alloys and other responsive soft materials. Finally, we provide a critical outlook on the field of stimuli-responsive soft actuators and emphasize the challenges in the process of their implementation to various industries.
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Affiliation(s)
- Zhongbao Wang
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Yixin Chen
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Yuan Ma
- Department of Mechanical Engineering, Research Institute for Intelligent Wearable Systems, The Hong Kong Polytechnic University, Hong Kong 999077, China
| | - Jing Wang
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
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17
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Janbaz S, Coulais C. Diffusive kinks turn kirigami into machines. Nat Commun 2024; 15:1255. [PMID: 38341411 DOI: 10.1038/s41467-024-45602-7] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/25/2023] [Accepted: 01/30/2024] [Indexed: 02/12/2024] Open
Abstract
Kinks define boundaries between distinct configurations of a material. In the context of mechanical metamaterials, kinks have recently been shown to underpin logic, shape-changing and locomotion functionalities. So far such kinks propagate by virtue of inertia or of an external load. Here, we discover the emergence of propagating kinks in purely dissipative kirigami. To this end, we create kirigami that shape-change into different textures depending on how fast they are stretched. We find that if we stretch fast and wait, the viscoelastic kirigami can eventually snap from one texture to another. Crucially, such a snapping instability occurs in a sequence and a propagating diffusive kink emerges. As such, it mimics the slow sequential folding observed in biological systems, e.g., Mimosa Pudica. We finally demonstrate that diffusive kinks can be harnessed for basic machine-like functionalities, such as sensing, dynamic shape morphing, transport and manipulation of objects.
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Affiliation(s)
- Shahram Janbaz
- Institute of Physics, Universiteit van Amsterdam, Amsterdam, The Netherlands
| | - Corentin Coulais
- Institute of Physics, Universiteit van Amsterdam, Amsterdam, The Netherlands.
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18
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Nirmala Suresh J, Liebscher H, Komber H, Tahir M, Gerlach G, Wießner S. Network Formation, Properties, and Actuation Performance of Functionalized Liquid Isoprene Rubber. ACS OMEGA 2024; 9:4754-4761. [PMID: 38313528 PMCID: PMC10832019 DOI: 10.1021/acsomega.3c08022] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 10/13/2023] [Revised: 12/05/2023] [Accepted: 01/04/2024] [Indexed: 02/06/2024]
Abstract
Due to some useful mechanical, dynamic, and dielectric properties along with the ease of processing and forming, liquid rubbers are ideal materials for fabricating dielectric elastomer actuators in various configurations and for many potential applications ranging from automation to automobile and medical industry. In this study, we present a cross-linkable liquid rubber composition where amine-catalyzed esterification reactions lead to the formation of a network structure based on anhydride functional isoprene rubber, carboxyl-terminated nitrile-butadiene rubber, and epoxy end-capped prepolymers. The success of this intricate network formation procedure was verified by HR-MAS NMR spectroscopy. The new isoprene-based elastomeric material exhibits actuation-relevant attributes including a low elastic modulus of 0.45 MPa, soft response to an applied load up to a large deformation of 300%, and a dielectric constant value (2.6) higher than the conventional Elastosil silicone (2.2). A dot actuator comprising of an isoprene dielectric elastomer film in unstretched state and carbon paste electrodes was fabricated that demonstrated an electrode deformation of 0.63%, which is nearly twice as high as for the commercial Elastosil 2030 film (∼0.30%) at 5 kV. Compared to the Elastosil silicone film, the enhanced performance is attributed to the low modulus and high dielectric constant value of the new isoprene elastomer.
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Affiliation(s)
- Jishnu Nirmala Suresh
- Institute
of Materials Science, Faculty of Mechanical Science and Engineering, Dresden University of Technology, 01062 Dresden, Germany
- Research
Division Elastomers, Leibniz-Institut für
Polymerforschung Dresden e.V., 01069 Dresden, Germany
| | - Hans Liebscher
- Institute
of Solid-State Electronics, Faculty of Electrical and Computer Engineering, Dresden University of Technology, 01062 Dresden, Germany
| | - Hartmut Komber
- Center
Macromolecular Structure Analysis, Leibniz-Institut
für Polymerforschung Dresden e.V., 01069 Dresden, Germany
| | - Muhammad Tahir
- Research
Division Elastomers, Leibniz-Institut für
Polymerforschung Dresden e.V., 01069 Dresden, Germany
| | - Gerald Gerlach
- Institute
of Solid-State Electronics, Faculty of Electrical and Computer Engineering, Dresden University of Technology, 01062 Dresden, Germany
| | - Sven Wießner
- Institute
of Materials Science, Faculty of Mechanical Science and Engineering, Dresden University of Technology, 01062 Dresden, Germany
- Research
Division Elastomers, Leibniz-Institut für
Polymerforschung Dresden e.V., 01069 Dresden, Germany
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19
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Hu J, Xu Y, Chen P, Xie F, Li H, He K. Design and Reality-Based Modeling Optimization of a Flexible Passive Joint Paddle for Swimming Robots. Biomimetics (Basel) 2024; 9:56. [PMID: 38275453 PMCID: PMC11154456 DOI: 10.3390/biomimetics9010056] [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: 10/29/2023] [Revised: 01/11/2024] [Accepted: 01/16/2024] [Indexed: 01/27/2024] Open
Abstract
Rowing motion with paired propellers is an essential actuation mechanism for swimming robots. Previous work in this field has typically employed flexible propellers to generate a net thrust or torque by using changes in the compliance values of flexible structures under the influence of a fluid. The low stiffness values of the flexible structures restrict the upper limit of the oscillation frequency and amplitude, resulting in slow swimming speeds. Furthermore, complex coupling between the fluid and the propeller reduce the accuracy of flexible propeller simulations. A design of a flexible passive joint paddle was proposed in this study, and a dynamics model and simulation of the paddle were experimentally verified. In order to optimize the straight swimming speed, a data-driven model was proposed to improve the simulation accuracy. The effects of the joint number and controller parameters on the robot's straight swimming speed were comprehensively investigated. The multi-joint paddle exhibited significantly improved thrust over the single-joint paddle in a symmetric driving mode. The data-driven model reduced the total error of the simulated data of the propulsive force in the range of control parameters to 0.51%. Swimming speed increased by 3.3 times compared to baseline. These findings demonstrate the utility of the proposed dynamics and data-driven models in the multi-objective design of swimming robots.
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Affiliation(s)
- Junzhe Hu
- Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China; (J.H.); (Y.X.); (H.L.)
- Chongqing University-University of Cincinnati Joint Co-op Institute, Chongqing University, Chongqing 400044, China;
| | - Yaohui Xu
- Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China; (J.H.); (Y.X.); (H.L.)
| | - Pengyu Chen
- Chongqing University-University of Cincinnati Joint Co-op Institute, Chongqing University, Chongqing 400044, China;
| | - Fengran Xie
- School of Artificial Intelligence, Shenzhen Polytechnic, Shenzhen 518055, China;
| | - Hanlin Li
- Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China; (J.H.); (Y.X.); (H.L.)
| | - Kai He
- Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China; (J.H.); (Y.X.); (H.L.)
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20
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Zhang Y, Deshmukh A, Wang KW. Embodying Multifunctional Mechano-Intelligence in and Through Phononic Metastructures Harnessing Physical Reservoir Computing. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2305074. [PMID: 37870205 DOI: 10.1002/advs.202305074] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/24/2023] [Revised: 09/21/2023] [Indexed: 10/24/2023]
Abstract
Recent advances in autonomous systems have prompted a strong demand for the next generation of adaptive structures and materials to possess built-in intelligence in their mechanical domain, the so-called mechano-intelligence (MI). Previous MI attempts mainly focused on specific case studies and lacked a systematic foundation in effectively and efficiently constructing and integrating different intelligent functions. Here, a new approach is uncovered to create multifunctional MI in adaptive structures using physical reservoir computing (PRC). That is, to concurrently embody computing power and the key elements of intelligence, namely perception, decision-making, and commanding, directly in the mechanical domain, advancing from conventional reliance on add-on computers and massive electronics. As an exemplar platform, a mechanically intelligent phononic metastructure is developed by harnessing its high-degree-of-freedom nonlinear dynamics as PRC power. Through analyses and experiments, multiple intelligent structural functions are demonstrated ranging from self-tuning wave controls to wave-based logic gates. This research provides the much-needed basis for creating future smart structures and materials that greatly surpass the state of the art-such as lower power consumption, more direct interactions, and better survivability in harsh environments or under cyberattacks. Moreover, it enables the addition of new functions and autonomy to systems without overburdening the onboard computers.
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Affiliation(s)
- Yuning Zhang
- Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, 48109, USA
| | - Aditya Deshmukh
- Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, 48109, USA
| | - Kon-Well Wang
- Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, 48109, USA
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21
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Wang H, Cui J, Tian K, Han Y. Three-degrees-of-freedom orientation manipulation of small untethered robots with a single anisotropic soft magnet. Nat Commun 2023; 14:7491. [PMID: 37980421 PMCID: PMC10657469 DOI: 10.1038/s41467-023-42783-5] [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: 07/03/2023] [Accepted: 10/20/2023] [Indexed: 11/20/2023] Open
Abstract
Magnetic actuation has been well exploited for untethered manipulation and locomotion of small-scale robots in complex environments such as intracorporeal lumens. Most existing magnetic actuation systems employ a permanent magnet onboard the robot. However, only 2-DoF orientation of the permanent-magnet robot can be controlled since no torque can be generated about its axis of magnetic moment, which limits the dexterity of manipulation. Here, we propose a new magnetic actuation method using a single soft magnet with an anisotropic geometry (e.g., triaxial ellipsoids) for full 3-DoF orientation manipulation. The fundamental actuation principle of anisotropic magnetization and 3-DoF torque generation are analytically modeled and experimentally validated. The hierarchical orientation stability about three principal axes is investigated, based on which we propose and validate a multi-step open-loop control strategy to alternatingly manipulate the direction of the longest axis of the soft magnet and the rotation about it for dexterous 3-DoF orientation manipulation.
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Affiliation(s)
- Heng Wang
- Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, Guangdong, China.
| | - Junhao Cui
- Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, Guangdong, China
| | - Kuan Tian
- Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, Guangdong, China
| | - Yuxiang Han
- Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, Guangdong, China
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22
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Wu L, Pasini D. In Situ Activation of Snap-Through Instability in Multi-Response Metamaterials through Multistable Topological Transformation. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2301109. [PMID: 37246407 DOI: 10.1002/adma.202301109] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/04/2023] [Revised: 04/17/2023] [Indexed: 05/30/2023]
Abstract
Snap-through instability has been widely leveraged in metamaterials to attain non-monotonic responses for a specific subset of applications where conventional monotonic materials fail to perform. In the remaining more plentiful set of ordinary applications, snap-through instability is harmful, and current snapping metamaterials become inadequate because their capacity to snap cannot be suppressed post-fabrication. Here, a class of topology-transformable metamaterials is introduced to enable in situ activation and deactivation of the snapping capacity, providing a remarkable level of versatility in switching between responses from monotonic to monostable and bistable snap-through. Theoretical analysis, numerical simulations, and experiments are combined to unveil the role played by contact in the topological transformation capable of increasing the geometry incompatibility and confinement stiffness of selected architectural members. The strategy here presented for post-fabrication reprogrammability of matter and on-the-fly response switching paves the way to multifunctionality for application in multiple sectors from mechanical logic gates, and adjustable energy dissipators, to in situ adaptable sport equipment.
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Affiliation(s)
- Lei Wu
- Department of Mechanical Engineering, McGill University, Montreal, Quebec H3A 0C3, Canada
| | - Damiano Pasini
- Department of Mechanical Engineering, McGill University, Montreal, Quebec H3A 0C3, Canada
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23
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Wang D, Zhao B, Li X, Dong L, Zhang M, Zou J, Gu G. Dexterous electrical-driven soft robots with reconfigurable chiral-lattice foot design. Nat Commun 2023; 14:5067. [PMID: 37604806 PMCID: PMC10442442 DOI: 10.1038/s41467-023-40626-x] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/28/2022] [Accepted: 08/04/2023] [Indexed: 08/23/2023] Open
Abstract
Dexterous locomotion, such as immediate direction change during fast movement or shape reconfiguration to perform diverse tasks, are essential animal survival strategies which have not been achieved in existing soft robots. Here, we present a kind of small-scale dexterous soft robot, consisting of an active dielectric elastomer artificial muscle and reconfigurable chiral-lattice foot, that enables immediate and reversible forward, backward and circular direction changes during fast movement under single voltage input. Our electric-driven soft robot with the structural design can be combined with smart materials to realize multimodal functions via shape reconfigurations under the external stimulus. We experimentally demonstrate that our dexterous soft robots can reach arbitrary points in a plane, form complex trajectories, or lower the height to pass through a narrow tunnel. The proposed structural design and shape reconfigurability may pave the way for next-generation autonomous soft robots with dexterous locomotion.
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Affiliation(s)
- Dong Wang
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China.
- Meta Robotics Institute, Shanghai Jiao Tong University, 200240, Shanghai, China.
| | - Baowen Zhao
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China
| | - Xinlei Li
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China
| | - Le Dong
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China
| | - Mengjie Zhang
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China
| | - Jiang Zou
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China
| | - Guoying Gu
- State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, 200240, Shanghai, China.
- Meta Robotics Institute, Shanghai Jiao Tong University, 200240, Shanghai, China.
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24
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Banerjee H, Leber A, Laperrousaz S, La Polla R, Dong C, Mansour S, Wan X, Sorin F. Soft Multimaterial Magnetic Fibers and Textiles. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2212202. [PMID: 37080546 DOI: 10.1002/adma.202212202] [Citation(s) in RCA: 5] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/28/2022] [Revised: 03/17/2023] [Indexed: 05/03/2023]
Abstract
Magnetically responsive soft materials are promising building blocks for the next generation of soft robotics, prosthesis, surgical tools, and smart textiles. To date, however, the fabrication of highly integrated magnetic fibers with extreme aspect ratios, that can be used as steerable catheters, endoscopes, or within functional textiles remains challenging. Here, multimaterial thermal drawing is proposed as a material and processing platform to realize 10s of meters long soft, ultrastretchable, yet highly resilient magnetic fibers. Fibers with a diameter as low as 300 µm and an aspect ratio of 105 are demonstrated, integrating nanocomposite domains with ferromagnetic microparticles embedded in a soft elastomeric matrix. With the proper choice of filler content that must strike the right balance between magnetization density and mechanical stiffness, fibers withstanding strains of >1000% are shown, which can be magnetically actuated and lift up to 370 times their own weight. Magnetic fibers can also integrate other functionalities like microfluidic channels, and be weaved into conventional textiles. It is shown that the novel magnetic textiles can be washed and sustain extreme mechanical constraints, as well as be folded into arbitrary shapes when magnetically actuated, paving the way toward novel intriguing opportunities in medical textiles and soft magnetic systems.
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Affiliation(s)
- Hritwick Banerjee
- Institute of Materials, École Polytechnique Fédérale de Lausanne, 1015, Lausanne, Switzerland
| | - Andreas Leber
- Institute of Materials, École Polytechnique Fédérale de Lausanne, 1015, Lausanne, Switzerland
| | - Stella Laperrousaz
- Institute of Materials, École Polytechnique Fédérale de Lausanne, 1015, Lausanne, Switzerland
| | - Rémi La Polla
- Institute of Materials, École Polytechnique Fédérale de Lausanne, 1015, Lausanne, Switzerland
| | - Chaoqun Dong
- Institute of Materials, École Polytechnique Fédérale de Lausanne, 1015, Lausanne, Switzerland
| | - Syrine Mansour
- Institute of Materials, École Polytechnique Fédérale de Lausanne, 1015, Lausanne, Switzerland
| | - Xue Wan
- Institute of Materials, École Polytechnique Fédérale de Lausanne, 1015, Lausanne, Switzerland
| | - Fabien Sorin
- Institute of Materials, École Polytechnique Fédérale de Lausanne, 1015, Lausanne, Switzerland
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25
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Kim DS, Lee YJ, Kim YB, Wang Y, Yang S. Autonomous, untethered gait-like synchronization of lobed loops made from liquid crystal elastomer fibers via spontaneous snap-through. SCIENCE ADVANCES 2023; 9:eadh5107. [PMID: 37196078 DOI: 10.1126/sciadv.adh5107] [Citation(s) in RCA: 9] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/08/2023] [Accepted: 04/13/2023] [Indexed: 05/19/2023]
Abstract
The transition from one equilibrium state to another via rapid snap-through can store elastic energy and release it as kinetic energy for rapid motion as seen in Venus flytrap and hummingbird to catch insects mid-flight. They are explored in soft robotics for repeated and autonomous motions. In this study, we synthesize curved liquid crystal elastomer (LCE) fibers as the building blocks that can undergo buckling instability upon heated on a hot surface, leading to autonomous snap-through and rolling behaviors. When they are connected into lobed loops, where each fiber is geometrically constrained by the neighboring ones, they demonstrate autonomous, self-regulated, and repeated synchronization with a frequency of ~1.8 Hz. By adding a rigid bead on the fiber, we can fine-tune the actuation direction and speed (up to ~2.4 mm/s). Last, we demonstrate various gait-like locomotion patterns using the loops as the robot's legs.
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Affiliation(s)
- Dae Seok Kim
- Department of Materials Science and Engineering, University of Pennsylvania, 3231 Walnut Street, Philadelphia, PA 19104, USA
- Pukyong National University, Department of Polymer Engineering, 45 Yongso-ro, Nam-gu, Busan, South Korea
| | - Young-Joo Lee
- Department of Materials Science and Engineering, University of Pennsylvania, 3231 Walnut Street, Philadelphia, PA 19104, USA
| | - Young Been Kim
- Pukyong National University, Department of Polymer Engineering, 45 Yongso-ro, Nam-gu, Busan, South Korea
| | - Yuchen Wang
- Department of Materials Science and Engineering, University of Pennsylvania, 3231 Walnut Street, Philadelphia, PA 19104, USA
| | - Shu Yang
- Department of Materials Science and Engineering, University of Pennsylvania, 3231 Walnut Street, Philadelphia, PA 19104, USA
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26
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Hu N, Li B, Bai R, Xie K, Chen G. A Torsion-Bending Antagonistic Bistable Actuator Enables Untethered Crawling and Swimming of Miniature Robots. RESEARCH (WASHINGTON, D.C.) 2023; 6:0116. [PMID: 37287890 PMCID: PMC10243200 DOI: 10.34133/research.0116] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 11/06/2022] [Accepted: 03/20/2023] [Indexed: 06/09/2023]
Abstract
Miniature robots show great potential in exploring narrow and confined spaces to perform various tasks, but many applications are limited by the dependence of these robots on electrical or pneumatic tethers to power supplies outboard. Developing an onboard actuator that is small in size and powerful enough to carry all the components onboard is a major challenge to eliminate the need for a tether. Bistability can trigger a dramatic energy release during switching between the 2 stable states, thus providing a promising way to overcome the intrinsic limitation of insufficient power of small actuators. In this work, the antagonistic action between torsional deflection and bending deflection in a lamina emergent torsional joint is utilized to achieve bistability, yielding a buckling-free bistable design. The unique configuration of this bistable design enables integrating of a single bending electroactive artificial muscle in the structure to form a compact, self-switching bistable actuator. A low-voltage ionic polymer-metal composites artificial muscle is employed, yielding a bistable actuator capable of generating an instantaneous angular velocity exceeding 300 °/s by a 3.75-V voltage. Two untethered robotic demonstrations using the bistable actuator are presented, including a crawling robot (gross weight of 2.7 g, including actuator, battery, and on-board circuit) that can generate a maximum instantaneous velocity of 40 mm/s and a swimming robot equipped with a pair of origami-inspired paddles that swims breaststroke. The low-voltage bistable actuator shows potential for achieving autonomous motion of various fully untethered miniature robots.
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Affiliation(s)
- Nan Hu
- State Key Laboratory for Manufacturing Systems Engineering and Shaanxi Key Laboratory of Intelligent Robots, School of Mechanical Engineering,
Xi’an Jiaotong University, Xi’an 710049, China
| | - Bo Li
- State Key Laboratory for Manufacturing Systems Engineering and Shaanxi Key Laboratory of Intelligent Robots, School of Mechanical Engineering,
Xi’an Jiaotong University, Xi’an 710049, China
| | - Ruiyu Bai
- State Key Laboratory for Manufacturing Systems Engineering and Shaanxi Key Laboratory of Intelligent Robots, School of Mechanical Engineering,
Xi’an Jiaotong University, Xi’an 710049, China
| | - Kai Xie
- School of Aerospace Science and Technology,
Xidian University, Xi’an 710126, China
| | - Guimin Chen
- State Key Laboratory for Manufacturing Systems Engineering and Shaanxi Key Laboratory of Intelligent Robots, School of Mechanical Engineering,
Xi’an Jiaotong University, Xi’an 710049, China
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27
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Xie K, Li C, Sun S, Nam CY, Shi Y, Wang H, Duan W, Ren Z, Yan P. Electrothermally Driven Reconfiguration of Microrobotic Beam Structures for the ChipSail System. MICROMACHINES 2023; 14:831. [PMID: 37421064 DOI: 10.3390/mi14040831] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/24/2023] [Revised: 04/04/2023] [Accepted: 04/07/2023] [Indexed: 07/09/2023]
Abstract
Solar sailing enables efficient propellant-free attitude adjustment and orbital maneuvers of solar sail spacecraft with high area-to-mass ratios. However, the heavy supporting mass for large solar sails inevitably leads to low area-to-mass ratios. Inspired by chip-scale satellites, a chip-scale solar sail system named ChipSail, consisting of microrobotic solar sails and a chip-scale satellite, was proposed in this work. The structural design and reconfigurable mechanisms of an electrothermally driven microrobotic solar sail made of Al\Ni50Ti50 bilayer beams were introduced, and the theoretical model of its electro-thermo-mechanical behaviors was established. The analytical solutions to the out-of-plane deformation of the solar sail structure appeared to be in good agreement with the finite element analysis (FEA) results. A representative prototype of such solar sail structures was fabricated on silicon wafers using surface and bulk microfabrication, followed by an in-situ experiment of its reconfigurable property under controlled electrothermal actuation. The experimental results demonstrated significant electro-thermo-mechanical deformation of such microrobotic bilayer solar sails, showing great potential in the development of the ChipSail system. Analytical solutions to the electro-thermo-mechanical model, as well as the fabrication process and characterization techniques, provided a rapid performance evaluation and optimization of such microrobotic bilayer solar sails for the ChipSail.
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Affiliation(s)
- Kecai Xie
- Key Laboratory of High-Efficiency and Clean Mechanical Manufacture, Shandong University, Jinan 250061, China
| | - Chengyang Li
- Key Laboratory of High-Efficiency and Clean Mechanical Manufacture, Shandong University, Jinan 250061, China
| | - Shouyu Sun
- Key Laboratory of High-Efficiency and Clean Mechanical Manufacture, Shandong University, Jinan 250061, China
| | - Chang-Yong Nam
- Center for Functional Nanomaterials, Brookhaven National Laboratory, Upton, NY 11973, USA
| | - Yong Shi
- Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ 07030, USA
| | - Haipeng Wang
- Key Laboratory of High-Efficiency and Clean Mechanical Manufacture, Shandong University, Jinan 250061, China
| | - Wu Duan
- Department of Endocrinology, Qilu Hospital of Shandong University, Jinan 250012, China
| | - Zhongjing Ren
- Key Laboratory of High-Efficiency and Clean Mechanical Manufacture, Shandong University, Jinan 250061, China
| | - Peng Yan
- Key Laboratory of High-Efficiency and Clean Mechanical Manufacture, Shandong University, Jinan 250061, China
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28
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Abbasi A, Sano TG, Yan D, Reis PM. Snap buckling of bistable beams under combined mechanical and magnetic loading. PHILOSOPHICAL TRANSACTIONS. SERIES A, MATHEMATICAL, PHYSICAL, AND ENGINEERING SCIENCES 2023; 381:20220029. [PMID: 36774950 DOI: 10.1098/rsta.2022.0029] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/18/2022] [Accepted: 10/26/2022] [Indexed: 06/18/2023]
Abstract
We investigate the mechanics of bistable, hard-magnetic, elastic beams, combining experiments, finite-element modelling (FEM) and a reduced-order theory. The beam is made of a hard magneto-rheological elastomer, comprising two segments with antiparallel magnetization along the centreline, and is set into a bistable curved configuration by imposing an end-to-end shortening. Reversible snapping is possible between these two stable states. First, we experimentally characterize the critical field strength for the onset of snapping, at different levels of end-to-end shortening. Second, we perform three-dimensional FEM simulations using the Riks method to analyse high-order deformation modes during snapping. Third, we develop a reduced-order centreline-based beam theory to rationalize the observed magneto-elastic response. The theory and simulations are validated against experiments, with an excellent quantitative agreement. Finally, we consider the case of combined magnetic loading and poking force, examining how the applied field affects the bistability and quantifying the maximum load-bearing capacity. Our work provides a set of predictive tools for the rational design of one-dimensional, bistable, magneto-elastic structural elements. This article is part of the theme issue 'Probing and dynamics of shock sensitive shells'.
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Affiliation(s)
- Arefeh Abbasi
- Flexible Structures Laboratory, Ecole Polytechnique Fédérale de Lausanne (EPFL), Lausanne 1015, Switzerland
| | - Tomohiko G Sano
- Flexible Structures Laboratory, Ecole Polytechnique Fédérale de Lausanne (EPFL), Lausanne 1015, Switzerland
- Department of Mechanical Engineering, Keio University, Yokohama, Kanagawa, 2230061, Japan
| | - Dong Yan
- Flexible Structures Laboratory, Ecole Polytechnique Fédérale de Lausanne (EPFL), Lausanne 1015, Switzerland
| | - Pedro M Reis
- Flexible Structures Laboratory, Ecole Polytechnique Fédérale de Lausanne (EPFL), Lausanne 1015, Switzerland
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29
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Bai Y, Wang S, Zhou X, Beer M. Three-dimensional ori-kirigami metamaterials with multistability. Phys Rev E 2023; 107:035004. [PMID: 37073041 DOI: 10.1103/physreve.107.035004] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/16/2022] [Accepted: 03/10/2023] [Indexed: 04/20/2023]
Abstract
Ori-kirigami structures offer a good avenue for designing mechanical metamaterials due to their unique advantage of being independent of material properties and scale limitations. Recently, the scientific community has been greatly interested in exploiting the complex energy landscape of ori-kirigami structures to construct multistable systems and play their valuable role in different applications. Here, we present three-dimensional ori-kirigami structures based on generalized waterbomb units, a cylindrical ori-kirigami structure based on waterbomb units, and a conical ori-kirigami structure based on trapezoidal waterbomb units. We investigate the inherent relationships between the unique kinematics and mechanical properties of these three-dimensional ori-kirigami structures and explore their potential usage as mechanical metamaterials that exhibit negative stiffness, snap-through, hysteresis effects, and multistability. What makes the structures even more attractive is their massive folding stroke, where the conical ori-kirigami structure can obtain a huge folding stroke of more than twice its initial height through penetration of its upper and lower boundaries. This study forms the foundation for designing and constructing three-dimensional ori-kirigami metamaterials based on generalized waterbomb units for various engineering applications.
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Affiliation(s)
- Yongtao Bai
- School of Civil Engineering, Chongqing University, Chongqing 400045, China
| | - Shuhong Wang
- School of Civil Engineering, Chongqing University, Chongqing 400045, China
| | - Xuhong Zhou
- School of Civil Engineering, Chongqing University, Chongqing 400045, China
| | - Michael Beer
- Institute for Risk and Reliability, Leibniz Universität Hannover, Hannover 30167, Germany
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30
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Zou B, Liang Z, Zhong D, Cui Z, Xiao K, Shao S, Ju J. Magneto-Thermomechanically Reprogrammable Mechanical Metamaterials. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2207349. [PMID: 36385420 DOI: 10.1002/adma.202207349] [Citation(s) in RCA: 8] [Impact Index Per Article: 8.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/12/2022] [Revised: 10/28/2022] [Indexed: 06/16/2023]
Abstract
Future active metamaterials for reconfigurable structural applications require fast, untethered, reversible, and reprogrammable (multimodal) transformability with shape locking. Magnetic control has a superior advantage for fast and remotely controlled deployment; however, a significant drawback is needed to maintain the magnetic force to hold the transformation, limiting its use in structural applications. The shape-locking property of shape-memory polymers (SMPs) can resolve this issue. However, the intrinsic irreversibility of SMPs may limit their reconfigurability as active metamaterials. Moreover, to date, reprogrammable methods have required high power with laser and arc welding proving to be energy-inefficient control methods. In this work, a magneto-thermomechanical tool is constructed and demonstrated, which enables a single material system to transform with untethered, reversible, low-powered reprogrammable deformations, and shape locking via the application of magneto-thermomechanically triggered prestress on the SMP and structural instability with asymmetric magnetic torque. The mutual assistance of two physics concepts-magnetic control combined with the thermomechanical behavior of SMPs is demonstrated, without requiring new materials synthesis and high-power energy for reprogramming. This approach can open a new path of active metamaterials, flexible yet stiff soft robots, multimodal morphing structures, and mechanical computing devices where it can be designed in reversible and reprogrammable ways.
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Affiliation(s)
- Bihui Zou
- UM-SJTU Joint Institute, Shanghai Jiao Tong University, 800 Dongchuan Road, Shanghai, 200240, China
| | - Zihe Liang
- UM-SJTU Joint Institute, Shanghai Jiao Tong University, 800 Dongchuan Road, Shanghai, 200240, China
| | - Dijia Zhong
- UM-SJTU Joint Institute, Shanghai Jiao Tong University, 800 Dongchuan Road, Shanghai, 200240, China
| | - Zhiming Cui
- UM-SJTU Joint Institute, Shanghai Jiao Tong University, 800 Dongchuan Road, Shanghai, 200240, China
| | - Kai Xiao
- UM-SJTU Joint Institute, Shanghai Jiao Tong University, 800 Dongchuan Road, Shanghai, 200240, China
| | - Shuang Shao
- UM-SJTU Joint Institute, Shanghai Jiao Tong University, 800 Dongchuan Road, Shanghai, 200240, China
| | - Jaehyung Ju
- UM-SJTU Joint Institute, Shanghai Jiao Tong University, 800 Dongchuan Road, Shanghai, 200240, China
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31
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Duran H, Cuevas-Maraver J, Kevrekidis PG, Vainchtein A. Discrete breathers in a mechanical metamaterial. Phys Rev E 2023; 107:014220. [PMID: 36797898 DOI: 10.1103/physreve.107.014220] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/22/2022] [Accepted: 01/08/2023] [Indexed: 06/18/2023]
Abstract
We consider a previously experimentally realized discrete model that describes a mechanical metamaterial consisting of a chain of pairs of rigid units connected by flexible hinges. Upon analyzing the linear band structure of the model, we identify parameter regimes in which this system may possess discrete breather solutions with frequencies inside the gap between optical and acoustic dispersion bands. We compute numerically exact solutions of this type for several different parameter regimes and investigate their properties and stability. Our findings demonstrate that upon appropriate parameter tuning within experimentally tractable ranges, the system exhibits a plethora of discrete breathers, with multiple branches of solutions that feature period-doubling and symmetry-breaking bifurcations, in addition to other mechanisms of stability change such as saddle-center and Hamiltonian Hopf bifurcations. The relevant stability analysis is corroborated by direct numerical computations examining the dynamical properties of the system and paving the way for potential further experimental exploration of this rich nonlinear dynamical lattice setting.
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Affiliation(s)
- Henry Duran
- Department of Mathematics, University of Pittsburgh, Pittsburgh, Pennsylvania 15260, USA
| | - Jesús Cuevas-Maraver
- Grupo de Física No Lineal, Departamento de Física Aplicada I, Escuela Politécnica Superior, Universidad de Sevilla, C/Virgen de África, 7, Sevilla 41011, Spain
- Instituto de Matemáticas de la Universidad de Sevilla (IMUS), Edificio Celestino Mutis, Avda, Reina Mercedes s/n, 41012-Sevilla, Spain
| | - Panayotis G Kevrekidis
- Department of Mathematics and Statistics, University of Massachusetts, Amherst, Massachusetts 01003-9305, USA
| | - Anna Vainchtein
- Department of Mathematics, University of Pittsburgh, Pittsburgh, Pennsylvania 15260, USA
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32
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Abstract
Thermal actuation is a common actuation method for soft robots. However, a major limitation is the relatively slow actuation speed. Here we report significant increase in the actuation speed of a bimorph thermal actuator by harnessing the snap-through instability. The actuator is made of silver nanowire/polydimethylsiloxane composite. The snap-through instability is enabled by simply applying an offset displacement to part of the actuator structure. The effects of thermal conductivity of the composite, offset displacement, and actuation frequency on the actuator speed are investigated using both experiments and finite element analysis. The actuator yields a bending speed as high as 28.7 cm-1/s, 10 times that without the snap-through instability. A fast crawling robot with locomotion speed of 1.04 body length per second and a biomimetic Venus flytrap were demonstrated to illustrate the promising potential of the fast bimorph thermal actuators for soft robotic applications.
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Affiliation(s)
- Shuang Wu
- Department of Mechanical and Aerospace Engineering and North Carolina State University, Raleigh, North Carolina, USA
| | - Gregory Langston Baker
- Department of Mechanical and Aerospace Engineering and North Carolina State University, Raleigh, North Carolina, USA
| | - Jie Yin
- Department of Mechanical and Aerospace Engineering and North Carolina State University, Raleigh, North Carolina, USA
| | - Yong Zhu
- Department of Mechanical and Aerospace Engineering and North Carolina State University, Raleigh, North Carolina, USA.,Department of Materials Science and Engineering, North Carolina State University, Raleigh, North Carolina, USA.,Joint Department of Biomedical Engineering, University of North Carolina-Chapel Hill and NC State University, Chapel Hill, North Carolina, USA
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33
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Chi Y, Hong Y, Zhao Y, Li Y, Yin J. Snapping for high-speed and high-efficient butterfly stroke-like soft swimmer. SCIENCE ADVANCES 2022; 8:eadd3788. [PMID: 36399554 PMCID: PMC9674291 DOI: 10.1126/sciadv.add3788] [Citation(s) in RCA: 14] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 06/08/2022] [Accepted: 10/03/2022] [Indexed: 06/16/2023]
Abstract
Natural selection has tuned many flying and swimming animals to share the same narrow design space for high power efficiency, e.g., their dimensionless Strouhal numbers St that relate flapping frequency and amplitude and forward speed fall within the range of 0.2 < St < 0.4 for peak propulsive efficiency. It is rather challenging to achieve both comparably fast-speed and high-efficient soft swimmers to marine animals due to the naturally selected narrow design space and soft body compliance. Here, bioinspired by the flapping motion in swimming animals, we report leveraging snapping instabilities for soft flapping-wing swimmers with comparable high performance to biological counterparts. The lightweight, butterfly stroke-like soft swimmer (2.8 g) demonstrates a record-high speed of 3.74 body length/s (4.8 times faster than the reported fastest flapping soft swimmer), high power efficiency (0.2 < St = 0.25 < 0.4), low energy consumption cost, and high maneuverability (a high turning speed of 157°/s).
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34
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Hima N, Bigoni D, Dal Corso F. Buckling versus unilateral constraint for a multistable metamaterial element. PHILOSOPHICAL TRANSACTIONS. SERIES A, MATHEMATICAL, PHYSICAL, AND ENGINEERING SCIENCES 2022; 380:20220021. [PMID: 35858080 DOI: 10.1098/rsta.2022.0021] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/11/2022] [Accepted: 04/03/2022] [Indexed: 06/15/2023]
Abstract
A structural element is designed and investigated, forming the basis for the development of an elastic multistable metamaterial. The leitmotif of the structural design is the implementation of a strut characterized by a bifurcation occurring at either vanishing tensile or compressive load. It is shown that buckling at null load leads to a mechanical equivalence with a unilateral constraint formulation, introducing shocks in dynamics. Towards a future analysis of the latter, the nonlinear quasi-static response is investigated, showing the multistable character of the structure, which may appear as bistable or tetrastable. This article is part of the theme issue 'Wave generation and transmission in multi-scale complex media and structured metamaterials (part 1)'.
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Affiliation(s)
- N Hima
- DICAM, University of Trento, via Mesiano 77, Trento 38123, Italy
- FIP MEC srl, via Scapacchiò 41, Selvazzano Dentro PD 35030, Italy
| | - D Bigoni
- DICAM, University of Trento, via Mesiano 77, Trento 38123, Italy
| | - F Dal Corso
- DICAM, University of Trento, via Mesiano 77, Trento 38123, Italy
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35
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Jiang W, Dai F. Bi-stable lateral buckled beam: quasi-static snap-through behaviour analysis. Proc Math Phys Eng Sci 2022. [DOI: 10.1098/rspa.2022.0328] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/12/2022] Open
Abstract
A cantilever beam with lateral buckled deformation performs bi-stable characteristic. The snapping mechanism between its two stable configurations can be triggered when applying displacement or angle on the free end. In this paper, an analytical model based on the modal superposition method is established to investigate the snap-through behaviour. A spring with stiffness
k
introduced in the analytical model ensures the quasi-static loading, bringing about the accurate snapping response. In addition, the initial lateral buckling of the cantilever beams and the snap-through behaviour of the lateral buckled beams are simulated using the FE method. The theoretical and numerical results are then validated on specially designed and built apparatus. Geometric parameters analysis indicates that the theoretical model is more accurate in predicating the snapping responses of bi-stable lateral buckled beams with slender features. Understanding the mechanics of snap-through behaviour is important for designing novel lateral buckled beams with target shapes and functions.
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Affiliation(s)
- Weihong Jiang
- National Key Laboratory of Science and Technology for National Defence on Advanced Composites in Special Environments, Harbin Institute of Technology, No.2 Yikuang Street, Harbin 150080, People's Republic of China
| | - Fuhong Dai
- National Key Laboratory of Science and Technology for National Defence on Advanced Composites in Special Environments, Harbin Institute of Technology, No.2 Yikuang Street, Harbin 150080, People's Republic of China
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36
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Risso G, Sakovsky M, Ermanni P. A Highly Multi-Stable Meta-Structure via Anisotropy for Large and Reversible Shape Transformation. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2022; 9:e2202740. [PMID: 35861407 PMCID: PMC9475508 DOI: 10.1002/advs.202202740] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 05/11/2022] [Revised: 06/14/2022] [Indexed: 06/15/2023]
Abstract
Shape transformation offers the possibility of realizing devices whose 3D shape can be altered to adapt to different environments. Many applications would profit from reversible and actively controllable shape transformation together with a self-locking capability. Solutions that combine such properties are rare. Here, a novel class of meta-structures that can tackle this challenge is presented thanks to multi-stability. Results demonstrate that the multi-stability of the meta-structure is strictly tied to the use of highly anisotropic materials. The design rules that enable large-shape transformation, programmability, and self-locking are derived, and it is proven that the shapes can be actively controlled and harnessed to realize inchworm-inspired locomotion by strategically actuating the meta-structure. This study provides routes toward novel shape adaptive lightweight structures where a metamaterial-inspired assembly of anisotropic components leads to an unforeseen combination of properties, with potential applications in reconfigurable space structures, building facades, antennas, lenses, and soft robots.
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Affiliation(s)
- Giada Risso
- Laboratory of Composite Materials and Adaptive StructuresDepartment of Mechanical and Process EngineeringETH Zürich, Leonhardstrasse 21CH‐8092ZürichSwitzerland
| | - Maria Sakovsky
- Laboratory of Composite Materials and Adaptive StructuresDepartment of Mechanical and Process EngineeringETH Zürich, Leonhardstrasse 21CH‐8092ZürichSwitzerland
- Reconfigurable & Active Structures LabDepartment of Aeronautics and AstronauticsStanford UniversityMaria SakovskyCA‐94305StanfordUSA
| | - Paolo Ermanni
- Laboratory of Composite Materials and Adaptive StructuresDepartment of Mechanical and Process EngineeringETH Zürich, Leonhardstrasse 21CH‐8092ZürichSwitzerland
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37
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Gorbushin N, Vainchtein A, Truskinovsky L. Transition fronts and their universality classes. Phys Rev E 2022; 106:024210. [PMID: 36109908 DOI: 10.1103/physreve.106.024210] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/08/2021] [Accepted: 07/21/2022] [Indexed: 06/15/2023]
Abstract
Steadily moving transition (switching) fronts, associated with local transformation, symmetry breaking, or collapse, are among the most important dynamic coherent structures. The nonlinear mechanical waves of this type play a major role in many modern applications involving the transmission of mechanical information in systems ranging from crystal lattices and metamaterials to macroscopic civil engineering structures. While many different classes of such dynamic fronts are known, the interrelation between them remains obscure. Here we consider a minimal prototypical mechanical system, the Fermi-Pasta-Ulam (FPU) chain with piecewise linear nonlinearity, and show that there are exactly three distinct classes of switching fronts, which differ fundamentally in how (and whether) they produce and transport oscillations. The fact that all three types of fronts could be obtained as explicit Wiener-Hopf solutions of the same discrete FPU problem allows one to identify the exact mathematical origin of the particular features of each class. To make the underlying Hamiltonian dynamics analytically transparent, we construct a minimal quasicontinuum approximation of the FPU model that captures all three classes of the fronts and reveals interrelation between them. This approximation is of higher order than conventional ones (KdV, Boussinesq) and involves mixed space-time derivatives. The proposed framework unifies previous attempts to classify the mechanical transition fronts as radiative, dispersive, topological, or compressive and categorizes them instead as irreducible types of dynamic lattice defects.
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Affiliation(s)
- N Gorbushin
- PMMH, CNRS-UMR 7636, CNRS, ESPCI Paris, PSL Research University, 10 rue Vauquelin, 75005 Paris, France
| | - A Vainchtein
- Department of Mathematics, University of Pittsburgh, Pittsburgh, Pennsylvania 15260, USA
| | - L Truskinovsky
- PMMH, CNRS-UMR 7636, CNRS, ESPCI Paris, PSL Research University, 10 rue Vauquelin, 75005 Paris, France
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38
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Patel H, Chen J, Hu Y, Erturk A. Photo-responsive hydrogel-based re-programmable metamaterials. Sci Rep 2022; 12:13033. [PMID: 35906233 PMCID: PMC9338311 DOI: 10.1038/s41598-022-15453-7] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/14/2022] [Accepted: 06/23/2022] [Indexed: 11/23/2022] Open
Abstract
This paper explores a novel programmable metamaterial using stimuli-responsive hydrogels with a demonstration of bandgap formation and tuning. Specifically, a photo-responsive hydrogel beam that can achieve re-programmable periodicity in geometric and material properties through patterned light irradiation is designed. Hydrogels consist of polymeric networks and water molecules. Many unique properties of hydrogels, including bio-compatibility, stimuli-responsiveness, and low dissipation make them ideal for enabling re-programmable metamaterials for manipulating structural dynamic response and wave propagation characteristics. Bandgap generation and tunability in photo-responsive hydrogel-based metamaterial (in the form of a diatomic phononic chain) as well as the effects of system parameters such as light exposure pattern and photo-sensitive group concentration on the bandgap width and center frequency are systematically studied. In agreement with finite-element model simulations, it is observed that an increase in light exposure region size reduces both the bandgap width and center frequency, while an increase in the concentration of photo-sensitive group increases bandgap width, attenuation and reduces its center frequency. This work unveils the potential of stimuli-response hydrogels as a new class of low-loss soft metamaterials, unlike most other soft materials that are too lossy to sustain and exploit wave phenomena.
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Affiliation(s)
- Herit Patel
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332, USA
| | - Jiehao Chen
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332, USA
| | - Yuhang Hu
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332, USA. .,The School of Chemical and Biomolecular Engineering, Georgia Institute of Technology, Atlanta, GA, 30332, USA.
| | - Alper Erturk
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332, USA.
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Tan X, Martínez JAI, Ulliac G, Wang B, Wu L, Moughames J, Raschetti M, Laude V, Kadic M. Single-Step-Lithography Micro-Stepper Based on Frictional Contact and Chiral Metamaterial. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2022; 18:e2202128. [PMID: 35708218 DOI: 10.1002/smll.202202128] [Citation(s) in RCA: 5] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/04/2022] [Revised: 05/21/2022] [Indexed: 06/15/2023]
Abstract
Stepper motors and actuators are among the main constituents of control motion devices. They are complex multibody systems with rather large overall volume due to their multifunctional parts and elaborate technological assembly processes. Miniaturization of individual parts is still posing assembly problems. In this paper, a single-step lithography process to fabricate a micro-stepper engine with an accurate micrometric rotation axis and an overall sub-millimeter size is demonstrated. The device is based on the frictional contacts and chiral metamaterials to get rid of the dependence on the accuracy of parts. The functional aspects of fabricated samples are discussed for many rotation cycles and for different frictional surfaces.
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Affiliation(s)
- Xiaojun Tan
- Institut FEMTO-ST, CNRS UMR 6174, University Bourgogne Franche-Comté, Besançon, 25000, France
- National Key Laboratory of Science and Technology on Advanced Composites in Special Environments, Harbin Institute of Technology, Harbin, 150001, P. R. China
| | | | - Gwenn Ulliac
- Institut FEMTO-ST, CNRS UMR 6174, University Bourgogne Franche-Comté, Besançon, 25000, France
| | - Bing Wang
- National Key Laboratory of Science and Technology on Advanced Composites in Special Environments, Harbin Institute of Technology, Harbin, 150001, P. R. China
| | - Linzhi Wu
- National Key Laboratory of Science and Technology on Advanced Composites in Special Environments, Harbin Institute of Technology, Harbin, 150001, P. R. China
| | - Johnny Moughames
- Institut FEMTO-ST, CNRS UMR 6174, University Bourgogne Franche-Comté, Besançon, 25000, France
| | - Marina Raschetti
- Institut FEMTO-ST, CNRS UMR 6174, University Bourgogne Franche-Comté, Besançon, 25000, France
| | - Vincent Laude
- Institut FEMTO-ST, CNRS UMR 6174, University Bourgogne Franche-Comté, Besançon, 25000, France
| | - Muamer Kadic
- Institut FEMTO-ST, CNRS UMR 6174, University Bourgogne Franche-Comté, Besançon, 25000, France
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40
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Abstract
In this overview of recent developments in the field of biorobotics we cover the developments in materials such as the use of polyester fabric being used as artificial skin and the start of whole new ways to actuate artificial muscles as a whole. In this, we discuss all of the relevant innovations from the fields of nano and microtechnology, as well as in the field of soft robotics to summarize what has been over the last 4 years and what could be improved for artificial muscles in the future. The goal of this paper will be to gain a better understanding of where the current field of biorobotics is at and what its current trends in manufacturing and its techniques are within the last several years.
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41
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Abstract
The concept of creating all-mechanical soft microrobotic systems has great potential to address outstanding challenges in biomedical applications, and introduce more sustainable and multifunctional products. To this end, magnetic fields and light have been extensively studied as potential energy sources. On the other hand, coupling the response of materials to pressure waves has been overlooked despite the abundant use of acoustics in nature and engineering solutions. In this study, we show that programmed commands can be contained on 3D nanoprinted polymer systems with the introduction of selectively excited air bubbles and rationally designed compliant mechanisms. A repertoire of micromechanical systems is engineered using experimentally validated computational models that consider the effects of primary and secondary pressure fields on entrapped air bubbles and the surrounding fluid. Coupling the dynamics of bubble oscillators reveals rich acoustofluidic interactions that can be programmed in space and time. We prescribe kinematics by harnessing the forces generated through these interactions to deform structural elements, which can be remotely reconfigured on demand with the incorporation of mechanical switches. These basic actuation and analog control modules will serve as the building blocks for the development of a novel class of micromechanical systems powered and programmed by acoustic signals.
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Affiliation(s)
- Murat Kaynak
- Institute of Mechanical Engineering, Ecole Polytechnique Fédérale de Lausanne, Lausanne, Switzerland
| | - Amit Dolev
- Institute of Mechanical Engineering, Ecole Polytechnique Fédérale de Lausanne, Lausanne, Switzerland
| | - Mahmut Selman Sakar
- Institute of Mechanical Engineering, Ecole Polytechnique Fédérale de Lausanne, Lausanne, Switzerland
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42
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Meng Z, Liu M, Yan H, Genin GM, Chen CQ. Deployable mechanical metamaterials with multistep programmable transformation. SCIENCE ADVANCES 2022; 8:eabn5460. [PMID: 35675398 PMCID: PMC9176747 DOI: 10.1126/sciadv.abn5460] [Citation(s) in RCA: 9] [Impact Index Per Article: 4.5] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/05/2023]
Abstract
Transformations in shape are critical to actuation in engineered metamaterials. Existing engineering metamaterials are typically limited to a small number of shape transformations that must be built-in during material synthesis. Here, inspired by the multistability and programmability of kirigami-based self-folding elements, a robust framework is introduced for the construction of sequentially programmable and reprogrammable mechanical metamaterials. The materials can be locked into multiple stable deployed configurations and then, using tunable bistability enabled by temperature-responsive constituent materials, return to their original reference configurations or undergo mode bifurcation. The framework provides a platform to design metamaterials with multiple deployable and reversible configurations in response to external stimuli.
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Affiliation(s)
- Zhiqiang Meng
- Department of Engineering Mechanics, CNMM and AML, Tsinghua University, Beijing 100084, PR China
| | - Mingchao Liu
- Mathematical Institute, University of Oxford, Woodstock Rd., Oxford OX2 6GG, UK
| | - Hujie Yan
- Department of Engineering Mechanics, CNMM and AML, Tsinghua University, Beijing 100084, PR China
| | - Guy M. Genin
- Mechanical Engineering and Materials Science, Washington University, St. Louis, MO 63130, USA
- NSF Science and Technology Center for Engineering Mechanobiology, St. Louis, MO 63130, USA
| | - Chang Qing Chen
- Department of Engineering Mechanics, CNMM and AML, Tsinghua University, Beijing 100084, PR China
- Corresponding author.
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43
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Pan Y, Yang Z, Li C, Hassan SU, Shum HC. Plant-inspired TransfOrigami microfluidics. SCIENCE ADVANCES 2022; 8:eabo1719. [PMID: 35507654 PMCID: PMC9067916 DOI: 10.1126/sciadv.abo1719] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/16/2023]
Abstract
The healthy functioning of the plants' vasculature depends on their ability to respond to environmental changes. In contrast, synthetic microfluidic systems have rarely demonstrated this environmental responsiveness. Plants respond to environmental stimuli through nastic movement, which inspires us to introduce transformable microfluidics: By embedding stimuli-responsive materials, the microfluidic device can respond to temperature, humidity, and light irradiance. Furthermore, by designing a foldable geometry, these responsive movements can follow the preset origami transformation. We term this device TransfOrigami microfluidics (TOM) to highlight the close connection between its transformation and the origami structure. TOM can be used as an environmentally adaptive photomicroreactor. It senses the environmental stimuli and feeds them back positively into photosynthetic conversion through morphological transformation. The principle behind this morphable microsystem can potentially be extended to applications that require responsiveness between the environment and the devices, such as dynamic artificial vascular networks and shape-adaptive flexible electronics.
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Affiliation(s)
- Yi Pan
- Department of Mechanical Engineering, The University of Hong Kong, Pokfulam Road, Hong Kong SAR, China
| | - Zhenyu Yang
- Department of Mechanical Engineering, The University of Hong Kong, Pokfulam Road, Hong Kong SAR, China
| | - Chang Li
- Department of Mechanical Engineering, The University of Hong Kong, Pokfulam Road, Hong Kong SAR, China
| | - Sammer Ul Hassan
- Department of Mechanical Engineering, The University of Hong Kong, Pokfulam Road, Hong Kong SAR, China
| | - Ho Cheung Shum
- Department of Mechanical Engineering, The University of Hong Kong, Pokfulam Road, Hong Kong SAR, China
- Advanced Biomedical Instrumentation Centre, Hong Kong Science Park, Shatin, New Territories, Hong Kong SAR, China
- Corresponding author.
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44
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Chi Y, Li Y, Zhao Y, Hong Y, Tang Y, Yin J. Bistable and Multistable Actuators for Soft Robots: Structures, Materials, and Functionalities. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2110384. [PMID: 35172026 DOI: 10.1002/adma.202110384] [Citation(s) in RCA: 42] [Impact Index Per Article: 21.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/20/2021] [Revised: 02/04/2022] [Indexed: 06/14/2023]
Abstract
Snap-through bistability is often observed in nature (e.g., fast snapping to closure of Venus flytrap) and the life (e.g., bottle caps and hair clippers). Recently, harnessing bistability and multistability in different structures and soft materials has attracted growing interest for high-performance soft actuators and soft robots. They have demonstrated broad and unique applications in high-speed locomotion on land and under water, adaptive sensing and fast grasping, shape reconfiguration, electronics-free controls with a single input, and logic computation. Here, an overview of integrating bistable and multistable structures with soft actuating materials for diverse soft actuators and soft/flexible robots is given. The mechanics-guided structural design principles for five categories of basic bistable elements from 1D to 3D (i.e., constrained beams, curved plates, dome shells, compliant mechanisms of linkages with flexible hinges and deformable origami, and balloon structures) are first presented, alongside brief discussions of typical soft actuating materials (i.e., fluidic elastomers and stimuli-responsive materials such as electro-, photo-, thermo-, magnetic-, and hydro-responsive polymers). Following that, integrating these soft materials with each category of bistable elements for soft bistable and multistable actuators and their diverse robotic applications are discussed. To conclude, perspectives on the challenges and opportunities in this emerging field are considered.
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Affiliation(s)
- Yinding Chi
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Yanbin Li
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Yao Zhao
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Yaoye Hong
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Yichao Tang
- School of Mechanical Engineering, Tongji University, Shanghai, 200092, China
| | - Jie Yin
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
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45
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Yasuda H, Johnson K, Arroyos V, Yamaguchi K, Raney JR, Yang J. Leaf-Like Origami with Bistability for Self-Adaptive Grasping Motions. Soft Robot 2022; 9:938-947. [PMID: 35446136 DOI: 10.1089/soro.2021.0008] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/13/2022] Open
Abstract
The leaf-like origami structure is inspired by geometric patterns found in nature, exhibiting unique transitions between open and closed shapes. With a bistable energy landscape, leaf-like origami is able to replicate the autonomous grasping of objects observed in biological systems such as the Venus flytrap. We show uniform grasping motions of the leaf-like origami, as well as various nonuniform grasping motions that arise from its multitransformable nature. Grasping motions can be triggered with high tunability due to the structure's bistable energy landscape. We demonstrate the self-adaptive grasping motion by dropping a target object onto our paper prototype, which does not require an external power source to retain the capture of the object. We also explore the nonuniform grasping motions of the leaf-like structure by selectively controlling the creases, which reveals various unique grasping configurations that can be exploited for versatile, autonomous, and self-adaptive robotic operations.
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Affiliation(s)
- Hiromi Yasuda
- Department of Aeronautics & Astronautics, University of Washington, Seattle, Washington, USA.,Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, Pennsylvania, USA
| | - Kyle Johnson
- Department of Electrical and Computer Engineering, University of Washington, Seattle, Washington, USA
| | - Vicente Arroyos
- Department of Electrical and Computer Engineering, University of Washington, Seattle, Washington, USA
| | - Koshiro Yamaguchi
- Department of Aeronautics & Astronautics, University of Washington, Seattle, Washington, USA
| | - Jordan R Raney
- Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, Pennsylvania, USA
| | - Jinkyu Yang
- Department of Aeronautics & Astronautics, University of Washington, Seattle, Washington, USA
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46
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Li CY, Zheng SY, Hao XP, Hong W, Zheng Q, Wu ZL. Spontaneous and rapid electro-actuated snapping of constrained polyelectrolyte hydrogels. SCIENCE ADVANCES 2022; 8:eabm9608. [PMID: 35417235 PMCID: PMC9007498 DOI: 10.1126/sciadv.abm9608] [Citation(s) in RCA: 18] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/25/2021] [Accepted: 02/24/2022] [Indexed: 05/23/2023]
Abstract
Venus flytrap and bladderwort, capable of rapid predation through a snapping transition, have inspired various designs of soft actuators and robots with fast actions. These designs, in contrast to their natural counterparts, often require a direct force or pressurization. Here, we report a bistable domal hydrogel structure capable of spontaneous and reversible snapping under an electric field. Unlike a mechanical force, the electric field does not drive the gel directly. Instead, it redistributes mobile ions that direct the migration of water molecules and bends the polyelectrolyte hydrogel. Subject to constraint from surrounding neutral gel, the elastic energy accumulates until suddenly released by snapping, just like the process in natural organisms. Several proof-of-concept examples, including an optical switch, a speedy catcher, and a pulse pump, are designed to demonstrate the versatile functionalities of this unit capable of articulate motion. This work should bring opportunities to devise soft robotics, biomedical devices, etc.
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Affiliation(s)
- Chen Yu Li
- Ministry of Education Key Laboratory of Macromolecular Synthesis and Functionalization, Department of Polymer Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Si Yu Zheng
- Ministry of Education Key Laboratory of Macromolecular Synthesis and Functionalization, Department of Polymer Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Xing Peng Hao
- Ministry of Education Key Laboratory of Macromolecular Synthesis and Functionalization, Department of Polymer Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Wei Hong
- Department of Mechanics and Aerospace Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - Qiang Zheng
- Ministry of Education Key Laboratory of Macromolecular Synthesis and Functionalization, Department of Polymer Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Zi Liang Wu
- Ministry of Education Key Laboratory of Macromolecular Synthesis and Functionalization, Department of Polymer Science and Engineering, Zhejiang University, Hangzhou 310027, China
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47
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Zhang X, Xue P, Yang X, Valenzuela C, Chen Y, Lv P, Wang Z, Wang L, Xu X. Near-Infrared Light-Driven Shape-Programmable Hydrogel Actuators Loaded with Metal-Organic Frameworks. ACS APPLIED MATERIALS & INTERFACES 2022; 14:11834-11841. [PMID: 35192332 DOI: 10.1021/acsami.1c24702] [Citation(s) in RCA: 21] [Impact Index Per Article: 10.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
Shape-programmable hydrogel-based soft actuators that can adaptively respond to external stimuli are of paramount significance for the development of bioinspired aquatic smart soft robots. Herein, we report the design and synthesis of near-infrared (NIR) light-driven hydrogel actuators through in situ photopolymerization of poly(N-isopropylacrylamide) (PNIPAM) hydrogels loaded with metal-organic frameworks (MOFs) onto the surface of the poly(dimethylsiloxane) (PDMS) thin film. The MOFs can not only function as an excellent photothermal nanotransducer but also accelerate the adsorption/desorption of water due to their porous nanostructure, which speeds up the response rate of the actuators. Shape-programmable hydrogel actuators are fabricated by tailoring the patterning of PDMS thin film, and thus different shape-morphing modes such as directional bending and chiral twisting are observed under the NIR light irradiations. As the proof-of-concept demonstrations, an artificial hand, biomimetic mimosa, and flower are conceptualized with light-driven MOF-containing hydrogel actuators. Interestingly, we are able to achieve an octopus-inspired light-driven soft swimmer upon cyclic NIR illumination due to the fast photoresponsiveness of as-prepared hydrogel actuators. This work can offer insights for fabricating programmable and reconfigurable smart aquatic soft actuators, thus shining a light into their potential applications in emerging fields including soft robots, biomedical devices, and beyond.
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Affiliation(s)
- Xinmu Zhang
- School of Materials Science and Engineering, Tianjin University, Tianjin 300350, China
| | - Pan Xue
- School of Materials Science and Engineering, Tianjin University, Tianjin 300350, China
| | - Xiao Yang
- School of Materials Science and Engineering, Tianjin University, Tianjin 300350, China
| | - Cristian Valenzuela
- School of Materials Science and Engineering, Tianjin University, Tianjin 300350, China
| | - Yuanhao Chen
- School of Materials Science and Engineering, Tianjin University, Tianjin 300350, China
| | - Pengfei Lv
- School of Materials Science and Engineering, Tianjin University, Tianjin 300350, China
| | - Zhaokai Wang
- School of Materials Science and Engineering, Tianjin University, Tianjin 300350, China
| | - Ling Wang
- School of Materials Science and Engineering, Tianjin University, Tianjin 300350, China
| | - Xinhua Xu
- School of Materials Science and Engineering, Tianjin University, Tianjin 300350, China
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48
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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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49
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Ding S, Sun M, Li Y, Ma W, Zhang Z. Novel Deployable Panel Structure Integrated with Thick Origami and Morphing Bistable Composite Structures. MATERIALS 2022; 15:ma15051942. [PMID: 35269171 PMCID: PMC8911627 DOI: 10.3390/ma15051942] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 02/06/2022] [Revised: 02/20/2022] [Accepted: 03/02/2022] [Indexed: 11/17/2022]
Abstract
This paper proposes a novel deployable panel structure integrated with a bistable composite structure and thick panel based on the thick origami technique. To overcome the interference effects between thick panels, the axis shift method is used in this deployable structure design. Bistable composite structures are employed as hinges for morphing characteristics. The trigger force and load-displacement curves of the structure are obtained by experiments and numerical simulations. The factors that affect the coverage area-to-package volume ratio and trigger force are discussed. The experimental and numerical results verify that the structure has two stable configurations and a large coverage area-to-package volume ratio.
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Affiliation(s)
- Shuyong Ding
- Zhijiang College of Zhejiang University of Technology, Shaoxing 312030, China;
| | - Min Sun
- College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310014, China; (M.S.); (Y.L.); (W.M.)
- Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou 310014, China
| | - Yang Li
- College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310014, China; (M.S.); (Y.L.); (W.M.)
| | - Weili Ma
- College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310014, China; (M.S.); (Y.L.); (W.M.)
| | - Zheng Zhang
- College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310014, China; (M.S.); (Y.L.); (W.M.)
- Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Ministry of Education and Zhejiang Province, Zhejiang University of Technology, Hangzhou 310014, China
- Correspondence:
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50
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Fernandes Minori A, Jadhav S, Chen H, Fong S, Tolley MT. Power Amplification for Jumping Soft Robots Actuated by Artificial Muscles. Front Robot AI 2022; 9:844282. [PMID: 35308461 PMCID: PMC8927657 DOI: 10.3389/frobt.2022.844282] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/27/2021] [Accepted: 02/01/2022] [Indexed: 12/04/2022] Open
Abstract
Robots composed of soft materials can passively adapt to constrained environments and mitigate damage due to impact. Given these features, jumping has been explored as a mode of locomotion for soft robots. However, for mesoscale jumping robots, lightweight and compact actuation are required. Previous work focused on systems powered by fluids, combustion, smart materials, electromagnetic, or electrostatic motors, which require one or more of the following: large rigid components, external power supplies, components of specific, pre-defined sizes, or fast actuation. In this work, we propose an approach to design and fabricate an electrically powered soft amplification mechanism to enable untethered mesoscale systems with continuously tunable performance. We used the tunable geometry of a liquid crystal elastomer actuator, an elastic hemispherical shell, and a pouch motor for active latching to achieve rapid motions for jumping despite the slow contraction rate of the actuator. Our system amplified the power output of the LCE actuator by a factor of 8.12 × 103 with a specific power of 26.4 W/kg and jumped to a height of 55.6 mm (with a 20 g payload). This work enables future explorations for electrically untethered soft systems capable of rapid motions (e.g., jumping).
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Affiliation(s)
- Adriane Fernandes Minori
- Department of Mechanical and Aerospace Engineering, University of California, San Diego, CA, United States
- School of Computer Science, Human and Computer Interaction Institute, Carnegie Mellon University, Pittsburgh, PA, United States
| | - Saurabh Jadhav
- Department of Mechanical and Aerospace Engineering, University of California, San Diego, CA, United States
| | - Haojin Chen
- Department of Mechanical and Aerospace Engineering, University of California, San Diego, CA, United States
| | - Samantha Fong
- Department of Mechanical and Aerospace Engineering, University of California, San Diego, CA, United States
| | - Michael T. Tolley
- Department of Mechanical and Aerospace Engineering, University of California, San Diego, CA, United States
- *Correspondence: Michael T. Tolley,
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