1
|
Yang Y, Read H, Sbai M, Zareei A, Forte AE, Melancon D, Bertoldi K. Complex Deformation in Soft Cylindrical Structures via Programmable Sequential Instabilities. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024:e2406611. [PMID: 39240015 DOI: 10.1002/adma.202406611] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/08/2024] [Revised: 07/23/2024] [Indexed: 09/07/2024]
Abstract
The substantial deformation exhibited by hyperelastic cylindrical shells under pressurization makes them an ideal platform for programmable inflatable structures. If negative pressure is applied, the cylindrical shell will buckle, leading to a sequence of rich deformation modes, all of which are fully recoverable due to the hyperelastic material choice. While the initial buckling event under vacuum is well understood, here, the post-buckling regime is explored and a region in the design space is identified in which a coupled twisting-contraction deformation mode occurs; by carefully controlling the geometry of our homogeneous shells, the proportion of contraction versus twist can be controlled. Additionally, bending as a post-buckling deformation mode can be unlocked by varying the thickness of our shells across the circumference. Since these soft shells can fully recover from substantial deformations caused by buckling, then these instability-driven deformations are harnessed to build soft machines capable of a programmable sequence of movements with a single actuation input.
Collapse
Affiliation(s)
- Yi Yang
- J.A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138, USA
| | - Helen Read
- J.A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138, USA
| | - Mohammed Sbai
- J.A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138, USA
| | - Ahmad Zareei
- J.A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138, USA
| | - Antonio Elia Forte
- J.A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138, USA
- Department of Engineering, King's College London, London, WC2R 2LS, UK
| | - David Melancon
- J.A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138, USA
- Department of Mechanical Engineering, Polytechnique Montreal, Quebec, H3T 1J4, Canada
| | - Katia Bertoldi
- J.A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138, USA
| |
Collapse
|
2
|
An S, Li X, Guo Z, Huang Y, Zhang Y, Jiang H. Energy-efficient dynamic 3D metasurfaces via spatiotemporal jamming interleaved assemblies for tactile interfaces. Nat Commun 2024; 15:7340. [PMID: 39187536 PMCID: PMC11347642 DOI: 10.1038/s41467-024-51865-x] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/12/2024] [Accepted: 08/19/2024] [Indexed: 08/28/2024] Open
Abstract
Inspired by the natural shape-morphing abilities of biological organisms, we introduce a strategy for creating energy-efficient dynamic 3D metasurfaces through spatiotemporal jamming of interleaved assemblies. Our approach, diverging from traditional shape-morphing techniques reliant on continuous energy inputs, utilizes strategically jammed, paper-based interleaved assemblies. By rapidly altering their stiffness at various spatial points and temporal phases during the relaxation of the soft substrate through jamming, we enable the formation of refreshable, intricate 3D shapes with a desirable load-bearing capability. This process, which does not require ongoing energy consumption, ensures energy-efficient and lasting shape displays. Our theoretical model, linking buckling deformation to residual pre-strain, underpins the inverse design process for an array of interleaved assemblies, facilitating the creation of diverse 3D configurations. This metasurface holds notable potential for tactile displays, particularly for the visually impaired, heralding possibilities in visual impaired education, haptic feedback, and virtual/augmented reality applications.
Collapse
Affiliation(s)
- Siqi An
- School of Engineering, Westlake University, Hangzhou, Zhejiang, 310030, China
- Westlake Institute for Advanced Study, Hangzhou, Zhejiang, 310024, China
| | - Xiaowen Li
- School of Engineering, Westlake University, Hangzhou, Zhejiang, 310030, China
- Westlake Institute for Advanced Study, Hangzhou, Zhejiang, 310024, China
| | - Zengrong Guo
- School of Engineering, Westlake University, Hangzhou, Zhejiang, 310030, China
| | - Yi Huang
- School of Engineering, Westlake University, Hangzhou, Zhejiang, 310030, China
| | - Yanlin Zhang
- School of Engineering, Westlake University, Hangzhou, Zhejiang, 310030, China
- Westlake Institute for Advanced Study, Hangzhou, Zhejiang, 310024, China
| | - Hanqing Jiang
- School of Engineering, Westlake University, Hangzhou, Zhejiang, 310030, China.
- Westlake Institute for Advanced Study, Hangzhou, Zhejiang, 310024, China.
- Research Center for Industries of the Future, Westlake University, Hangzhou, Zhejiang, 310030, China.
| |
Collapse
|
3
|
Tanaka M, Song Y, Nomura T. Fabric soft pneumatic actuators with programmable turing pattern textures. Sci Rep 2024; 14:19175. [PMID: 39160199 PMCID: PMC11333703 DOI: 10.1038/s41598-024-69450-z] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/20/2024] [Accepted: 08/05/2024] [Indexed: 08/21/2024] Open
Abstract
This paper presents a novel computational design and fabrication method for fabric-based soft pneumatic actuators (FSPAs) that use Turing patterns, inspired by Alan Turing's morphogenesis theory. These inflatable structures can adapt their shapes with simple pressure changes and are applicable in areas like soft robotics, airbags, and temporary shelters. Traditionally, the design of such structures relies on isotropic materials and the designer's expertise, often requiring a trial-and-error approach. The present study introduces a method to automate this process using advanced numerical optimization to design and manufacture fabric-based inflatable structures with programmable shape-morphing capabilities. Initially, an optimized distribution of the material orientation field on the surface membrane is achieved through gradient-based orientation optimization. This involves a comprehensive physical deployment simulation using the nonlinear shell finite element method, which is integrated into the inner loop of the optimization algorithm. This continuous adjustment of material orientations enhances the design objectives. These material orientation fields are transformed into discretized texture patterns that replicate the same anisotropic deformations. Anisotropic reaction-diffusion equations, using diffusion coefficients determined by local orientations from the optimization step, are then utilized to create space-filling Turing pattern textures. Furthermore, the fabrication methods of these optimized Turing pattern textures are explored using fabrics through heat bonding and embroidery. The performance of the fabricated FSPAs is evaluated through three different deformation shapes: C-shaped bending, S-shaped bending, and twisting.
Collapse
Affiliation(s)
- Masato Tanaka
- Toyota Central R&D Laboratories, Inc., 41-1, Yokomichi, Nagakute, Aichi, 480-1192, Japan.
- Toyota Research Institute of North America, Toyota Motor North America, Ann Arbor, MI, 48105, USA.
| | - Yuyang Song
- Toyota Research Institute of North America, Toyota Motor North America, Ann Arbor, MI, 48105, USA.
| | - Tsuyoshi Nomura
- Toyota Central R&D Laboratories, Inc., 41-1, Yokomichi, Nagakute, Aichi, 480-1192, Japan
| |
Collapse
|
4
|
Das S, Kunjam P, Moling B, Gao T, Barthelat F. Stiff morphing composite beams inspired from fish fins. Interface Focus 2024; 14:20230072. [PMID: 39081621 PMCID: PMC11285607 DOI: 10.1098/rsfs.2023.0072] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/01/2023] [Revised: 03/20/2024] [Accepted: 05/02/2024] [Indexed: 08/02/2024] Open
Abstract
Morphing materials are typically either very compliant to achieve large shape changes or very stiff but with small shape changes that require large actuation forces. Interestingly, fish fins overcome these limitations: fish fins do not contain muscles, yet they can change the shape of their fins with high precision and speed while producing large hydrodynamic forces without collapsing. Here, we present a 'stiff' morphing beam inspired from the individual rays in natural fish fins. These synthetic rays are made of acrylic (PMMA) outer beams ('hemitrichs') connected with rubber ligaments which are 3-4 orders of magnitude more compliant. Combinations of experiments and models of these synthetic rays show strong nonlinear geometrical effects: the ligaments are 'mechanically invisible' at small deformations, but they delay buckling and improve the stability of the ray at large deformations. We use the models and experiments to explore designs with variable ligament densities, and we generate design guidelines for optimum morphing shape (captured using the first moment of curvature), that capture the trade-offs between morphing compliance (ease of morphing the structure) and flexural stiffness. The design guidelines proposed here can help the development of stiff morphing bioinspired structures for a variety of applications in aerospace, biomedicine or robotics.
Collapse
Affiliation(s)
- Saurabh Das
- Department of Mechanical Engineering, University of Colorado, 427 UCB, 1111 Engineering Dr, Boulder, CO80309, USA
| | - Prashant Kunjam
- Department of Mechanical Engineering, University of Colorado, 427 UCB, 1111 Engineering Dr, Boulder, CO80309, USA
| | - Baptiste Moling
- Department of Mechanical Engineering, University of Colorado, 427 UCB, 1111 Engineering Dr, Boulder, CO80309, USA
- Ecole Polytechnique, Route de Saclay, Palaiseau91128, France
| | - Tian Gao
- Department of Mechanical Engineering, University of Colorado, 427 UCB, 1111 Engineering Dr, Boulder, CO80309, USA
| | - Francois Barthelat
- Department of Mechanical Engineering, University of Colorado, 427 UCB, 1111 Engineering Dr, Boulder, CO80309, USA
| |
Collapse
|
5
|
Yang Y, Xu F. Computational morphology and morphogenesis for empowering soft-matter engineering. NATURE COMPUTATIONAL SCIENCE 2024; 4:388-390. [PMID: 38849558 DOI: 10.1038/s43588-024-00647-y] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/09/2024]
Affiliation(s)
- Yifan Yang
- Institute of Mechanics and Computational Engineering, Department of Aeronautics and Astronautics, Fudan University, Shanghai, People's Republic of China
| | - Fan Xu
- Institute of Mechanics and Computational Engineering, Department of Aeronautics and Astronautics, Fudan University, Shanghai, People's Republic of China.
| |
Collapse
|
6
|
Das S, Kunjam P, Ebeling JF, Barthelat F. Gradients of properties increase the morphing and stiffening performance of bioinspired synthetic fin rays. BIOINSPIRATION & BIOMIMETICS 2024; 19:046011. [PMID: 38722377 DOI: 10.1088/1748-3190/ad493c] [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: 02/23/2024] [Accepted: 05/09/2024] [Indexed: 05/25/2024]
Abstract
State-of-the-art morphing materials are either very compliant to achieve large shape changes (flexible metamaterials, compliant mechanisms, hydrogels), or very stiff but with infinitesimal changes in shape that require large actuation forces (metallic or composite panels with piezoelectric actuation). Morphing efficiency and structural stiffness are therefore mutually exclusive properties in current engineering morphing materials, which limits the range of their applicability. Interestingly, natural fish fins do not contain muscles, yet they can morph to large amplitudes with minimal muscular actuation forces from the base while producing large hydrodynamic forces without collapsing. This sophisticated mechanical response has already inspired several synthetic fin rays with various applications. However, most 'synthetic' fin rays have only considered uniform properties and structures along the rays while in natural fin rays, gradients of properties are prominent. In this study, we designed, modeled, fabricated and tested synthetic fin rays with bioinspired gradients of properties. The rays were composed of two hemitrichs made of a stiff polymer, joined by a much softer core region made of elastomeric ligaments. Using combinations of experiments and nonlinear mechanical models, we found that gradients in both the core region and hemitrichs can increase the morphing and stiffening response of individual rays. Introducing a positive gradient of ligament density in the core region (the density of ligament increases towards the tip of the ray) decreased the actuation force required for morphing and increased overall flexural stiffness. Introducing a gradient of property in the hemitrichs, by tapering them, produced morphing deformations that were distributed over long distances along the length of the ray. These new insights on the interplay between material architecture and properties in nonlinear regimes of deformation can improve the designs of morphing structures that combine high morphing efficiency and high stiffness from external forces, with potential applications in aerospace or robotics.
Collapse
Affiliation(s)
- Saurabh Das
- Department of Mechanical Engineering, University of Colorado, 427 UCB, 1111 Engineering Dr, Boulder, CO 80309, United States of America
| | - Prashant Kunjam
- Department of Mechanical Engineering, University of Colorado, 427 UCB, 1111 Engineering Dr, Boulder, CO 80309, United States of America
| | - Jona Faye Ebeling
- Department of Mechanical Engineering, University of Colorado, 427 UCB, 1111 Engineering Dr, Boulder, CO 80309, United States of America
- Department of Nature and Engineering, City University of Applied Sciences Bremen, Hermann-Köhl-Straße 1, 28199 Bremen, Germany
| | - Francois Barthelat
- Department of Mechanical Engineering, University of Colorado, 427 UCB, 1111 Engineering Dr, Boulder, CO 80309, United States of America
| |
Collapse
|
7
|
An S, Cao Y, Jiang H. A mechanically robust and facile shape morphing using tensile-induced buckling. SCIENCE ADVANCES 2024; 10:eado8431. [PMID: 38781341 PMCID: PMC11114219 DOI: 10.1126/sciadv.ado8431] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/23/2024] [Accepted: 04/17/2024] [Indexed: 05/25/2024]
Abstract
Inspired by the adaptive mechanisms observed in biological organisms, shape-morphing soft structures have emerged as promising platforms for many applications. In this study, we present a shape-morphing strategy to overcome existing limitations of the intricate fabrication process and the lack of mechanical robustness against mechanical perturbations. Our method uses tensile-induced buckling, achieved by attaching restraining strips to a stretchable substrate. When the substrate is stretched, the stiffness mismatch between the restraining strips and the substrate, and the Poisson's effect on the substrate cause the restraining strips to buckle, thereby transforming initially flat shapes into intricate three-dimensional (3D) configurations. Guided by an inverse design method, we demonstrate the capability to achieve complicated and diverse 3D shapes. Leveraging shape morphing, we further develop soft grippers exhibiting outstanding universality, high grasping efficiencies, and exceptional durability. Our proposed shape-morphing strategy is scalable and material-independent, holding notable potential for applications in soft robotics, haptics, and biomedical devices.
Collapse
Affiliation(s)
- Siqi An
- School of Engineering, Westlake University, Hangzhou, Zhejiang 310030, China
- Westlake Institute for Advanced Study, Hangzhou, Zhejiang 310024, China
| | - Yajun Cao
- School of Engineering, Westlake University, Hangzhou, Zhejiang 310030, China
- Westlake Institute for Advanced Study, Hangzhou, Zhejiang 310024, China
| | - Hanqing Jiang
- School of Engineering, Westlake University, Hangzhou, Zhejiang 310030, China
- Westlake Institute for Advanced Study, Hangzhou, Zhejiang 310024, China
- Research Center for Industries of the Future, Westlake University, Hangzhou, Zhejiang 310030, China
| |
Collapse
|
8
|
Delory A, Kiefer DA, Lanoy M, Eddi A, Prada C, Lemoult F. Viscoelastic dynamics of a soft strip subject to a large deformation. SOFT MATTER 2024; 20:1983-1995. [PMID: 38284472 DOI: 10.1039/d3sm01485a] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/30/2024]
Abstract
To produce sounds, we adjust the tension of our vocal folds to shape their properties and control the pitch. This efficient mechanism offers inspiration for designing reconfigurable materials and adaptable soft robots. However, understanding how flexible structures respond to a significant static strain is not straightforward. This complexity also limits the precision of medical imaging when applied to tensioned organs like muscles, tendons, ligaments and blood vessels among others. In this article, we experimentally and theoretically explore the dynamics of a soft strip subject to a substantial static extension, up to 180%. Our observations reveal a few intriguing effects, such as the resilience of certain vibrational modes to a static deformation. These observations are supported by a model based on the incremental displacement theory. This has promising practical implications for characterizing soft materials but also for scenarios where external actions can be used to tune properties.
Collapse
Affiliation(s)
- Alexandre Delory
- Institut Langevin, ESPCI Paris, Université PSL, CNRS, 75005 Paris, France.
- Physique et Mécanique des Milieux Hétérogènes, CNRS, ESPCI Paris, Université PSL, Sorbonne Université, Université de Paris Cité, F-75005, Paris, France
| | - Daniel A Kiefer
- Institut Langevin, ESPCI Paris, Université PSL, CNRS, 75005 Paris, France.
| | - Maxime Lanoy
- Laboratoire d'Acoustique de l'Université du Mans (LAUM), UMR 6613, Institut d'Acoustique - Graduate School (IA-GS), CNRS, Le Mans Université, 72085 Le Mans, France
| | - Antonin Eddi
- Physique et Mécanique des Milieux Hétérogènes, CNRS, ESPCI Paris, Université PSL, Sorbonne Université, Université de Paris Cité, F-75005, Paris, France
| | - Claire Prada
- Institut Langevin, ESPCI Paris, Université PSL, CNRS, 75005 Paris, France.
| | - Fabrice Lemoult
- Institut Langevin, ESPCI Paris, Université PSL, CNRS, 75005 Paris, France.
| |
Collapse
|