Tetherless Reconfigurations at Actuator-Structure Interfaces

Abstract

Reconfigurable structures can perform multiple functions and are useful in confined environments with complicated access. To extend the complexity of configurations achievable with reconfigurable mechanisms, remotely reconfigurable mechanisms are explored. Magnetically responsive phase change materials are selected for actuation, and origami backbones as the structure. Modulating the mechanism's coupling and constraints, multiple configurations are achieved. Three functional aspects of in situ reconfiguration are demonstrated. First, selective attachment and actuation enable remote mechanisms to deploy and actuate. Second, reconfiguration that modifies the constraints allows for new kinematics even in confined environments. Third, the actuator can construct and change the configuration of an origami structure, allowing subsequent functions to emerge. Tetherless interface reconfiguration is demonstrated with an in situ needle puncture and escape room puzzle, which can benefit existing robotic applications in confined spaces.