Self-rotation-eversion of an anisotropic-friction-surface torus

Recent experiments have revealed a new end-to-end ribbon spiral structure capable of demonstrating two interconnected periodic zero-energy-mode self-rotation-eversion in reaction to constant temperature or constant light sources, yet its fabrication is challenging due to its intricate nature. Differently, this paper develops a light-fueled self-rotating and everting liquid crystal elastomer torus on an isotropic frictional plane, by imparting anisotropic frictional properties to the surface of the torus. Based on a mature dynamic liquid crystal elastomer model, we constructed the theoretical model of the torus system. The torus is capable of absorbing the illumination energy to counteract damping dissipation and produce zero-energy-mode self-eversion-rotation. Theoretical findings demonstrate that the angular velocity of self-eversion is influenced by light intensity, light penetration depth, gravitational acceleration and anisotropic friction surface. Moreover, there is a proportional relationship between the self-rotation and self-eversion angular velocities, which is determined by the anisotropic frictional surface. The detailed criterion for the self-rotation direction is also established. Theoretical findings exhibit several similar phenomena to experimental observations. This paper proposes a new simple strategy that utilizes anisotropic friction surface to control self-eversion-rotation, which has guiding significance for the application of soft robots, active devices, and energy harvesters.