Nonlinear dynamics of an origami wheel with shape memory alloy actuators

Fonseca, Larissa M.; Rodrigues, Guilherme Vieira; Savi, Marcelo A.; Paiva, Alberto

doi:10.1016/j.chaos.2019.03.033

Cited by 28 publications

(16 citation statements)

References 17 publications

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“…Other approaches include origami‐inspired designs that integrate twisted SMA actuators. In one instance, Savi and co‐workers develop an origami wheel powered by a trained SMA spring coil in a bias system against an elastic spring ( Figure a, left) 53. These authors demonstrate a device that utilizes the martensite‐austenite transition of an SMA spring to drive a transformation away from a neutral configuration (P 0 ) to a compacted configuration when heated (P 1 ) and a second expanded configuration (P 2 ) dictated by an orthogonal elastic spring at lower temperatures (Figure 4a, right).…”

Section: Shape Memory Alloysmentioning

confidence: 99%

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Materials as Machines

2020

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of responsive materials as machines is in robotics. The vision, leadership, and research of Bar-Cohen is seminal in both invigorating and focusing current-day research activities to develop responsive materials [2] and implement [3] them as lightweight, dexterous, and gentle (e.g., soft) robotic elements. In this spirit, this review exhaustively details the materials, the nature of their stimuli-response, and discusses considerations for their implementation in robotic systems and subsystems.Robotics is a well-established but growing field of research. Sustained progress in both performance and functionality continue to be realized in commercial robotic systems largely based on conventional materials and their integration with mechanisms. A recent example is the Atlas robot from Boston Dynamics [4] (Figure 1a). The incorporation of stimuli-responsive materials in robotics has largely focused on component-level demonstrations to extend the performance of a subsystem (such as a hand or gripper).Stimuli-responsive materials, spanning nearly all classes of materials and size scales, are currently subject to widespread examination in corporate, government, and academic research laboratories (Figure 1b-d). [5][6][7] In some cases, these materials have already found widespread commercial implementation in end use and are comparatively mature. The materials and fundamentals of their responses are summarized in Figure 2. Shape memory alloys (SMAs) and ceramic piezoelectric materials are distinctive in that they are hard, stimuli-responsive materials. Deformation of these materials can produce large energy densities due to their inherent stiffness. Electroactive polymers (EAPs) remain a topic of considerable interest, particularly dielectric elastomer actuators (DEAs). Engineered systems are rapidly emerging and enabling performance gains in robotics, largely based on pneumatic or fluidic (such as HASEL [8] actuators) transport processes that localize deformation to generate force or produce motion. Soft materials, such as shape memory polymers (SMPs), hydrogels, and liquid crystalline polymer networks (LCNs) and elastomers (LCEs) may offer distinctive functional performance to robotic systems in allowing local control of deformation without the need for complex interfacing with mechanisms. As will be evident, each of these materials has inherent advantages and performance tradeoffs that must be considered in functional implementations. However, responsive material systems have a common obstacle to widespread use: the performance and Machines are systems that harness input power to extend or advance function. Fundamentally, machines are based on the integration of materials with mechanisms to accomplish tasks-such as generating motion or lifting an object. An emerging research paradigm is the design, synthesis, and integration of responsive materials within or as machines. Herein, a particular focus is the integration of responsive materials to enable robotic (machine) functions such as gripping, lifting, or motility (walk...

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Section: Shape Memory Alloysmentioning

confidence: 99%

Section: Shape Memory Alloysmentioning

confidence: 99%

Materials as Machines

2020

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“…Gillman et al [11] studied the folding mode of the waterbomb structure and explored how the interaction between the stretching energy and the folding ability affect the design of a bistable structure. Fonseca et al [12] studied the nonlinear dynamics of the waterbomb wheel structure and developed a one-degree-of-freedom reduced-order model system to describe the waterbomb wheel. Hanna et al [13] performed dynamic analysis on the waterbomb base and predicted bistable behavior through kinematic and potential energy analyses.…”

Section: Introductionmentioning

confidence: 99%

Analysis of Mechanical Behaviors of Waterbomb Thin-Shell Structures Under Quasi-Static Load

Zhao¹,

Shang²,

Zhang³

et al. 2021

Preprint

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Waterbomb structures are origami-inspired deformable structural components used in new types of robots. They have a unique radially deployable ability that enables robots to better adapt to their environment. In this paper, we propose a series of new waterbomb structures with square, rectangle, and parallelogram base units. Through quasi-static axial and radial compression experiments and numerical simulations, we prove that the parallelogram waterbomb structure has a twist displacement mode along the axial direction. Compared with the square waterbomb structure, the proposed optimal design of the parallelogram waterbomb structure reduces the critical axial buckling load-to-weight ratio by 55.4% and increases the radial stiffness-to-weight ratio by 67.6%. The significant increase in the radial stiffness-to-weight ratio of the waterbomb structure and decrease in the critical axial buckling load-to-weight ratio make the proposed origami pattern attractive for practical robotics applications.

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“…A planer stretchable film is kinematically manipulated with external stretching tethers [20,24]. The responsive film materials provide self-reconfigurable folding and unfolding when exposed to a change in environmental temperature [34][35][36], the addition of a solvent [37,38], or irradiation by lasers [39]. For example, Tolley et al [35] demonstrated self-folding origami shapes composed of shape memory polymer, which is activated by uniform heating in an oven for less than 4 min.…”

Section: Introductionmentioning

confidence: 99%

Design and Fabrication of a Kirigami-Inspired Electrothermal MEMS Scanner with Large Displacement

Hashimoto

Taguchi

2020

Micromachines

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Large-displacement microelectromechanical system (MEMS) scanners are in high demand for a wide variety of optical applications. Kirigami, a traditional Japanese art of paper cutting and folding, is a promising engineering method for creating out-of-plane structures. This paper explores the feasibility and potential of a kirigami-inspired electrothermal MEMS scanner, which achieves large vertical displacement by out-of-plane film actuation. The proposed scanner is composed of film materials suitable for electrothermal self-reconfigurable folding and unfolding, and microscale film cuttings are strategically placed to generate large displacement. The freestanding electrothermal kirigami film with a 2 mm diameter and high fill factor is completely fabricated by careful stress control in the MEMS process. A 200 μm vertical displacement with 131 mW and a 20 Hz responsive frequency is experimentally demonstrated as a unique function of electrothermal kirigami film. The proposed design, fabrication process, and experimental test validate the proposed scanner’s feasibility and potential for large-displacement scanning with a high fill factor.

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Nonlinear dynamics of an origami wheel with shape memory alloy actuators

Cited by 28 publications

References 17 publications

Materials as Machines

Materials as Machines

Analysis of Mechanical Behaviors of Waterbomb Thin-Shell Structures Under Quasi-Static Load

Design and Fabrication of a Kirigami-Inspired Electrothermal MEMS Scanner with Large Displacement

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