Shape memory alloy (SMA) shows promise as a powerful actuator for soft robots, offering high force and a simple mechatronic setup. However, effectively controlling SMA-actuated soft robots remains challenging. This study presents a modular robot design that leverages a curved beam's snap-through mechanics and an integrated ``mechanical'' circuit. This design enables robotic locomotion with only a single DC power supply, representing a notable advancement toward SMA-actuated, controller-free locomotion.
The performance of bistable composite laminates is affected significantly by environmental conditions like moisture, resulting in changes in their structural performance. This study characterizes the moisture effect on the maximum height, curvature, and snap-through load of the [0/90] CFRP laminates in a 100% RH environment. Laminates are submerged in a de-ionized water bath up to moisture saturation, and their maximum height, curvature, and snap-through load are measured. This work updates an existing analytical and FEA model to incorporate the effect of moisture on these parameters by expressing the combined thermal and moisture expansion coefficients as a function of diffusivity, time, and thickness. Test results revealed a significant reduction in all three parameters during the initial rapid moisture uptake period of Fickian absorption, followed by a gradual reduction at a substantially lower rate. The FEA and analytical model demonstrated good agreement with the test results.
Asymmetric carbon fiber reinforced composites have shown immense potentials in adaptive structure applications such as morphing airfoils,1–4 and energy harvesters.5 Due to the unidirectional prepregs used for their fabrication and strongly nonlinear behaviors, these composite laminates can show significantly different load-displacement responses along with different loading directions. Moreover, asymmetric composites can exhibit bistability, offering a pathway to easily switch between different mechanical responses. This paper presents two switchable structure concepts based on asymmetric composites. The first concept exploits two distinct responses in the [0°/90° ] laminates in two perpendicular in-plane directions. Via a simple snap-through, such structure can switch between stiff and compliant. Preliminary experiments show that it can achieve close to 70:1 stiffness ratio between these two configurations. The second concept is a Kresling origami structure fabricated in a novel way using asymmetric fiber composites and 3D-printed flexible TPU material. Due to the asymmetric layup in their triangular composite facets, the Kresling structure can switch from a “foldable” configuration to a “locked” configuration. Axial compression and tension response for foldable and locked configurations are experimentally investigated. These two case studies suggest that there are still many untapped potentials in the asymmetric fiber composites for advanced and multi-functional structural applications.
In the field of soft robotics, harnessing the nonlinear dynamics of soft and compliant bodies as a computational resource to enable embodied intelligence and control is known as morphological computation. Physical reservoir computing (PRC) is a true instance of morphological computation wherein; a physical nonlinear dynamic system is used as a fixed reservoir to perform complex computational tasks. These dynamic reservoirs can be used to approximate nonlinear dynamical systems and even perform machine learning tasks. By numerical simulation, this study illustrates that an origami meta-material can also be used as a dynamic reservoir for pattern generation, output modulation, and input sensing. These results could pave the way for intelligently designed origami-based robots that interact with the environment through a distributed network of sensors and actuators. This embodied intelligence will enable the next generations of soft robots to autonomously coordinate and modulate their activities, such as locomotion gait generation and limb manipulation while resisting external disturbances.
In this research, we propose a novel and comprehensive origami-based solution to the long-standing challenge regarding lattice-based mechanical metamaterials: how to systematically construct a lattice and transform it among different symmetric configurations in a predictable, scalable, and reversible manner? By bridging the lattice geometry and rigid-folding kinematics, we reveal that origami can be used as a versatile scaffold to construct all types of 2D and 3D Bravais lattices. Via rigid folding, the origami lattices can undergo all diffusionless phase transformations, which can trigger fundamental lattice-symmetry switches. The proposed theoretical framework of origami lattice can open up new avenues towards engineering metamaterials and metastructures that can alter their underlying lattice structures on-demand, which will create new applications beyond what has been explored.
Shape morphing is one of the most appealing applications of adaptive structures. Among the various means of achieving shape morphing, origami-inspired folding is particularly advantageous, because folding is a powerful approach to induce three-dimensional and sophisticated shape changes. However, attaining large-amplitude folding is still a challenge in origami engineering. While promising, the use of active materials as a folding activation strategy is limited due to the constant voltage supply that is required to maintain the desired configuration of the structure. One possible solution is to embed bi-stability into the structure. Bi-stability can play two significant roles here: first, it can significantly reduce the actuation requirement to induce shape morphing, and second, it can maintain the shape change without demanding sustained energy supply. In a previous study by the authors, a unique shape morphing (or self-folding) method using harmonic excitation has been proposed for a bi-stable water-bomb base. However, this approach has some drawbacks because the nonlinear dynamic behaviors of origami are quite sensitive to different design parameters, such as initial conditions, excitation parameters, and inaccuracies in manufacturing. In this study, via numerical simulations, we show that by harnessing the intra-well resonance of the water-bomb structure and incorporating a relatively simple feedback control strategy, one can achieve a rapid and robust morphing using relatively low actuation magnitude. The results of this study can lay the foundation of a new category of morphing origami mechanisms with efficient and reliable embedded actuation.
Bistable fiber composite laminates have promising capabilities for shape morphing and have found applications in advanced airframes, energy harvesting, and robotics. Their bistability originates from an asymmetric ply layout and can create highly complex deformations during the snap-through from one stable state to the other. There- fore, it is essential to understand the transient behaviors of these laminates under different loading conditions. Although simple symmetric loading conditions are well understood, asymmetric loading conditions received far less attention. In this study, we investigate the transient deformation of a [0°/90°] square laminate subjected to an asymmetric point load at different locations. Finite element simulation and experimental testing both show that, depending on the loading position, snap-through can either be a one-step or two-step process, while each step is related to the curvature change of a laminate edge. Also, at some loading positions, snap-through is unattainable regardless of the input magnitude. The results of this study would help us obtain a more comprehensive understanding of the nonlinear mechanics of bistable composite laminates showing transient response to different external forces.
Morphing structures have been a subject of much research recently because of their promising potentials in aerospace, wind turbine, and many other applications. There exists many different approaches to achieve shape morphing, among which the origami-inspired folding is particularly interesting in that folding is fundamentally three-dimensional, scalable, and customizable. However, activating and attaining large amplitude folding autonomously are challenging. Active materials, such as shape memory alloys, have been used to activate folding, but they are limited due to the power supply requirement to maintain the folded configurations. One possible solution is to embed bi-stability into the origami structure. Bi-stability can play two significant roles: First, it can significantly reduce the actuation requirement to induce shape morning; and second, it can maintain the shape change without demanding sustained energy supply. In this study, we demonstrate the feasibility of using dynamic excitation to induce shape morphing (or folding) between the two stable states of water-bomb base. For the first time, we derive the dynamic equation of motion for a water-bomb base origami and use it extensively to analyze its time responses under harmonic excitation. Via numerical simulations, we show that by harnessing the intra-well resonance of the water-bomb structure, we can achieve rapid bi-directional morphing using relatively low actuation magnitudes in comparison with quasi-static loading.
Motivated by the sophisticated geometries in origami folding and the fluidic actuation principle in nastic plant movements, the concept of fluidic origami cellular structure was proposed for versatile morphing and actuation. The idea is to assembly compatible origami sheets into a cellular architecture, and apply fluidic pressure into its naturally embedded tubes to achieve effective shape reconfigurations. Despite the promising potentials, the actuation capabilities of fluidic origami, such as free stroke and blocking force, are not elucidated. Especially, we do not understand the effects of thick facet material compliance and pressure-sealing end caps. This research aims to address these issues by incorporating realistic considerations into the design, fabrication, and analysis of fluidic origami. We construct CAD models of fluidic origami tubes that incorporate the finite facet material thickness and flat end caps. Various design parameters are chosen carefully to ensure that they can be fabricated via commercially accessible 3D printing techniques. These models are then used to analyze the actuation performance via finite element simulation (FEA). Results show that the undesired effects from end caps are limited to the unit cells at the tube ends, and fluidic origami can indeed provide robust actuation and morphing capability.
The application of origami-inspired designs to engineered structures and materials has been a subject of much research
efforts. These structures and materials, whose mechanical properties are directly related to the geometry of folding,
are capable of achieving a host of unique adaptive functions. In this study, we investigate a three-dimensional multistability
and variable stiffness function of a cellular solid based on the Miura-Ori folding pattern. The unit cell of such
a solid, consisting of two stacked Miura-Ori sheets, can be elastically bistable due to the nonlinear relationship between
rigid-folding deformation and crease material bending. Such a bistability possesses an unorthodox property:
the critical, unstable configuration lies on the same side of two stable ones, so that two different force-deformation
curves co-exist within the same range of deformation. By exploiting such unique stability properties, we can achieve
a programmable stiffness change between the two elastically stable states, and the stiffness differences can be prescribed
by tailoring the crease patterns of the cell. This paper presents a comprehensive parametric study revealing
the correlations between such variable stiffness and various design parameters. The unique properties stemming from
the bistability and design of such a unit cell can be advanced further by assembling them into a solid which can be
capable of shape morphing and programmable mechanical properties.
Origami has emerged as a potential tool for the design of mechanical metamaterials and metastructures whose novel properties originate from their crease patterns. Most of the attention in origami engineering has focused on the wellknown Miura-Ori, a folded tessellation that is flat-foldable for folded sheet and stacked blocks. This study advances the state of the art and expands the research field to investigate generic degree-4 vertex (4-vertex) origami, with a focus on facet-binding. In order to understand how facet-binding attributes to the mechanical properties of 4-vertex origami structures, geometries of the 4-vertex origami cells are analyzed and analytically expressed. Through repeating and stacking 4-vertex cells, origami sheets and stacked origami blocks can be constructed. Geometry analyses discover four mechanisms that will lead to the self-locking of 4-vertex origami cells, sheets, and stacked blocks: in-cell facet-binding, inlayer facet-binding, inter-layer facet binding, and in-layer and inter-layer facet-bindings. These mechanisms and the predicted self-locking phenomena are verified through 3D simulations and prototype experiments. Finally, this paper briefly introduces the unusual mechanical properties caused by the locking of 4-vertex origami structures. The research reported in this paper could foster a new breed of self-locking structures with various engineering applications.
By combining the physical principles behind the nastic plant movements and the rich designs of paper folding art, we propose a new class of multi-functional adaptive structure called fluidic origami cellular structure. The basic elements of this structure are fluid filled origami "cells", made by connecting two compatible Miura-Ori stripes along their crease lines. These cells are assembled seamlessly into a three dimensional topology, and their internal fluid pressure or volume are strategically controlled just like in plants for nastic movements. Because of the unique geometry of the Miura-Ori, the relationships among origami folding, internal fluid properties, and the crease bending are intricate and highly nonlinear. Fluidic origami can exploit such relationships to provide multiple adaptive functions concurrently and effectively. For example, it can achieve actuation or morphing by actively changing the internal fluid volume, and stillness tuning by constraining the fluid volume. Fluidic origami can also be bistable because of the nonlinear correlation between folding and crease material bending, and such bistable character can be altered significantly by fluid pressurization. These functions are natural and essential companions with respect to each other, so that fluidic origami can holistically exhibit many attractive characteristics of plants and deliver rapid and efficient actuation/morphing while maintaining a high structural stillness. The purpose of this paper is to introduce the design and working principles of the fluidic origami, as well as to explore and demonstrate its performance potential.
This paper reports the experimental progress towards developing a multi-segment in-pipe robot inspired by earthworm’s body structure and locomotion mechanism. To mimic the alternating contraction and elongation of a single earthworm’s segment, a robust, servomotor based actuation mechanism is developed. In each robot segment, servomotor-driven cords and spring steel belts are utilized to imitate the earthworm’s longitudinal and circular muscles, respectively. It is shown that the designed segment can contract and relax just like an earthworm’s body segment. The axial and radial deformation of a single segment is measured experimentally, which agrees with the theoretical predictions. Then a multisegment earthworm-like robot is fabricated by assembling eight identical segments in series. The locomotion performance of this robot prototype is then extensively tested in order to investigate the correlation between gait design and dynamic locomotion characteristics. Based on the principle of retrograde peristalsis wave, a gait generator is developed for the multi-segment earthworm-like robot, following which gaits of the robot can be constructed. Employing the generated gaits, the 8-segment earthworm-like robot can successfully perform both horizontal locomotion and vertical climb in pipes. By changing gait parameters, i.e., with different gaits, locomotion characteristics including average speed and anchor slippage can be significantly tailored. The proposed actuation method and prototype of the multi-segment in-pipe robot as well as the gait generator provide a bionic realization of earthworm’s locomotion with promising potentials in various applications such as pipeline inspection and cleaning.
Recently, an adaptive structure concept based on fluidic flexible matrix composite (F2MC) cells has been investigated for its potential to provide multiple functionalities simultaneously. This structure consists of different F2MC cells that are connected through internal fluidic circuit, and due to the interaction between the fluid flow and cell wall deformation, the structure exhibits distinct system poles and zeros. By adjusting the F2MC cellular design parameters, the poles and zeros can be placed at appropriate positions so that the cellular structure can perform dynamic functions such as vibration absorption and dynamic actuation. In order to fully explore the potential of the F2MC based cellular structure, this research develops a synthesis procedure for a triple cellular structure based on a set of prescribed poles and zeros. This procedure is essentially a hybrid numerical method combining the Jacobi inverse eigenvalue problem solver and genetic algorithm with discrete variables. It is capable of selecting physically feasible design parameters for each F2MC cell in order to achieve the desired pole and zero positions accurately.
Recently, a new biological-inspired fluidic flexible matrix composite (in short, F2MC) concept has been developed for
linear/torsional actuation and structural stiffness tailoring. Although the actuation and the variable stiffness features of
the F2MC have been successfully demonstrated individually, their combined functions and full potentials were not yet manifested. In addition, the current hydraulic pressurization systems are bulky and heavy, limiting the potential of the
F2MC actuator. To address these issues, we synthesize a new variable stiffness actuator concept that can provide both
effective actuation and tunable stiffness (dual-mode), incorporating the F2MC with a compact piezoelectric-hydraulic
pump (in short, PHP). This dual-mode mechanism will significantly enhance the potential of the F2MC adaptive structures.
Presented in this paper is the development of a novel honeycomb sandwich panel with variable transverse stiffness. In
this structure, the traditional sandwich face sheets are replaced by the fluidic flexible matrix composite (F2MC) tube
layers developed in recent studies. The F2MC layers, combined with the anisotropic honeycomb core material
properties, provide a new sandwich structure with variable stiffness properties for transverse loading. In this research,
an analytical model is derived based on Lekhitskii's anisotropic pressurized tube solution and Timoshenko beam theory.
Experimental investigations are also conducted to verify the analytical findings. A segmented multiple-F2MC-tube
configuration is synthesized to increase the variable stiffness range. The analysis shows that the new honeycomb
sandwich structure using F2MC tubes of 10 segments can provide a high/low transverse stiffness ratio of 60.
Segmentation and stiffness control can be realized by an embedded valve network, granting a fast response time.
In this research, the capability of utilizing fluidic flexible matrix composites (F2MC) for autonomous structural tailoring
is investigated. By taking advantages of the high anisotropy of flexible matrix composite (FMC) tubes and the high bulk
modulus of the pressurizing fluid, significant changes in the effective modulus of elasticity can be achieved by
controlling the inlet valve to the fluid filled F2MC structure. The variable modulus F2MC structure has the flexibility to
easily deform when desired (open valve), possesses the high modulus required during loading conditions when
deformation is not desired (closed valve - locked state), and has the adaptability to vary the modulus between the
flexible/stiff states through control of the valve. In the current study, a closed-form, 3-dimensional, analytical model is
developed to model the behavior of a single F2MC tube structure. Experiments are conducted to validate the proposed
model. The test results show good agreement with the model predictions. A closed/open modulus ratio as high as 56
times is achieved experimentally thus far. With the validated model, an F2MC design space study is performed. It is
found by tailoring the properties of the FMC tube and inner liner, a wide range of modulus and modulus ratios can be
attained.
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