利用弹出式折叠铰链调整叽里胶超材料表皮的各向异性

Hamid Reza Tohidvand, Alexis White, Ali Khosravi, Paolo Celli
{"title":"利用弹出式折叠铰链调整叽里胶超材料表皮的各向异性","authors":"Hamid Reza Tohidvand, Alexis White, Ali Khosravi, Paolo Celli","doi":"arxiv-2408.01338","DOIUrl":null,"url":null,"abstract":"Kirigami metamaterial sheets and tubes, owing to their capacity to undergo\nlarge elastic deformations while developing three-dimensional surface textures,\nhave enormous potential as skins for soft robots. Here, we propose to use\nkirigami skins with folding hinges in this same context. These\nrecently-introduced kirigami feature counter-rotating panels connected by\npop-up folding hinges. So far, researchers have only explored auxetic and\nhighly-symmetric versions of such patterns. Yet, some of these attributes have\nto be relaxed in order to explore their full potential as robotic skins. Thus,\nwe parameterize these patterns and relax symmetry constraints, with the goal of\nusing this same platform to obtain a wide range of shape-morphing behaviors. We\nuse a combination of: matrix analysis tools and analytical kinematic formulas\nto thoroughly explore the vast design space that ensues; experiments for\nvalidation purposes; and numerical simulations to explore the mechanics of\nselected planar and tubular patterns. We demonstrate that it is possible to\ntailor parameters to obtain skins that globally expand or contract due to axial\nelongation, and that present asymmetric pop-ups that can yield anisotropic\nfriction -- the most desired attribute for one-way locomotion of soft robots.","PeriodicalId":501146,"journal":{"name":"arXiv - PHYS - Soft Condensed Matter","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2024-08-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Tailoring anisotropy in kirigami metamaterial skins with pop-up folding hinges\",\"authors\":\"Hamid Reza Tohidvand, Alexis White, Ali Khosravi, Paolo Celli\",\"doi\":\"arxiv-2408.01338\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Kirigami metamaterial sheets and tubes, owing to their capacity to undergo\\nlarge elastic deformations while developing three-dimensional surface textures,\\nhave enormous potential as skins for soft robots. Here, we propose to use\\nkirigami skins with folding hinges in this same context. These\\nrecently-introduced kirigami feature counter-rotating panels connected by\\npop-up folding hinges. So far, researchers have only explored auxetic and\\nhighly-symmetric versions of such patterns. Yet, some of these attributes have\\nto be relaxed in order to explore their full potential as robotic skins. Thus,\\nwe parameterize these patterns and relax symmetry constraints, with the goal of\\nusing this same platform to obtain a wide range of shape-morphing behaviors. We\\nuse a combination of: matrix analysis tools and analytical kinematic formulas\\nto thoroughly explore the vast design space that ensues; experiments for\\nvalidation purposes; and numerical simulations to explore the mechanics of\\nselected planar and tubular patterns. We demonstrate that it is possible to\\ntailor parameters to obtain skins that globally expand or contract due to axial\\nelongation, and that present asymmetric pop-ups that can yield anisotropic\\nfriction -- the most desired attribute for one-way locomotion of soft robots.\",\"PeriodicalId\":501146,\"journal\":{\"name\":\"arXiv - PHYS - Soft Condensed Matter\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2024-08-02\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"arXiv - PHYS - Soft Condensed Matter\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/arxiv-2408.01338\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"arXiv - PHYS - Soft Condensed Matter","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/arxiv-2408.01338","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0

摘要

叽里呱啦超材料板材和管材能够承受巨大的弹性变形,同时形成三维表面纹理,因此具有作为软体机器人表皮的巨大潜力。在此,我们建议在同样的背景下使用带有折叠铰链的叽里呱啦超材料表皮。最近推出的这种叽里格米具有通过上翻式折叠铰链连接的反向旋转面板。迄今为止,研究人员只探索过这种图案的辅助对称和高度对称版本。然而,为了充分挖掘这些图案作为机器人皮肤的潜力,必须放宽其中的一些属性。因此,我们对这些图案进行了参数化处理,并放宽了对称性约束,目的是利用这一平台获得各种形状变形行为。我们结合使用了矩阵分析工具和分析运动学公式,以深入探索随之而来的广阔设计空间;为验证目的进行了实验;并进行了数值模拟,以探索选定的平面和管状图案的力学原理。我们证明,可以通过调整参数来获得因轴向伸长而整体膨胀或收缩的表皮,并呈现出不对称的弹起,从而产生各向异性的摩擦力--这是软体机器人单向运动最需要的特性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Tailoring anisotropy in kirigami metamaterial skins with pop-up folding hinges
Kirigami metamaterial sheets and tubes, owing to their capacity to undergo large elastic deformations while developing three-dimensional surface textures, have enormous potential as skins for soft robots. Here, we propose to use kirigami skins with folding hinges in this same context. These recently-introduced kirigami feature counter-rotating panels connected by pop-up folding hinges. So far, researchers have only explored auxetic and highly-symmetric versions of such patterns. Yet, some of these attributes have to be relaxed in order to explore their full potential as robotic skins. Thus, we parameterize these patterns and relax symmetry constraints, with the goal of using this same platform to obtain a wide range of shape-morphing behaviors. We use a combination of: matrix analysis tools and analytical kinematic formulas to thoroughly explore the vast design space that ensues; experiments for validation purposes; and numerical simulations to explore the mechanics of selected planar and tubular patterns. We demonstrate that it is possible to tailor parameters to obtain skins that globally expand or contract due to axial elongation, and that present asymmetric pop-ups that can yield anisotropic friction -- the most desired attribute for one-way locomotion of soft robots.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信