Piece‐By‐Piece Shape‐Morphing: Engineering Compatible Auxetic and Non‐Auxetic Lattices to Improve Soft Robot Performance in Confined Spaces

Dikici, Yusuf; Jiang, Haisong; Li, Bo; Daltorio, Kathyrn A.; Akkuş, Ozan

doi:10.1002/adem.202101620

Cited by 11 publications

(13 citation statements)

References 59 publications

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“…It allows the preservation of a circular undeformed shape and uniform stress distribution within a tube in contrast to gluing or using connectors that suffer from distorted forms and concentrated stresses at joints. [ 36 ] The agreement between the programmed shapes predicted numerically and those of the pressurized samples is very good, confirming promising perspectives for our design approaches and rose‐shaped patterns in morphing complex shapes.…”

Section: Introductionsupporting

confidence: 68%

“…The arrangement of auxetic and conventional unit cells controls the deformation modes of tubular structures. [21,36] To achieve programmed deformations, we explore how to achieve fundamental deformation modes, i.e., expansion, bending, and twisting modes. We also analyze differences in deformed states originating from loading and boundary conditions.…”

Section: Programmable Design Of Deformation Modesmentioning

confidence: 99%

See 1 more Smart Citation

Shape Morphing of Tubular Structures with Tailorable Mechanical Properties

Zhang,

Krushynska

2023

Adv Eng Mater

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Tubular structures are in high demand in robotics, medicine, and electronics. They are expected to match different shapes under loading and simultaneously exhibit certain mechanical behavior, e.g., specific radial strength and local flexibility, that poses a complex engineering design task. Herein, strategies to achieve programmable shape morphing in patterned tubular structures are explored, whose mechanical properties for all types of deformation modes can be tailored on demand. The general design problem is formulated, and the programmable response for fundamental—expansion, bending, and twisting—modes activated by tension and pressurization is demonstrated. The design problem for expansion modes is solved analytically; the numerical results agree well with the experimental data for stereolithography three‐dimensional printed cellular tubes. The effects of loading and boundary conditions on the deformed shapes and the structural mechanical response are analyzed. Algorithm‐based design strategies are proposed to achieve quantitative and automatic design for complex deformation modes. The possible use of the proposed structures is also discussed with respect to several applications. The findings pave the way for multifunctional tubular structures by exploring the pluridimensional space of the geometric parameters of metamaterial patterns.

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Section: Introductionsupporting

confidence: 68%

Section: Programmable Design Of Deformation Modesmentioning

confidence: 99%

Shape Morphing of Tubular Structures with Tailorable Mechanical Properties

Zhang,

Krushynska

2023

Adv Eng Mater

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“…Penetration resistance increases with depth in sand, and the polychaete Thoracophelia exhibits behaviors that can (Fang et al, 2021). (E) Peristaltic robot made from printed metamaterials with chaetae-like extensions added to create anisotropic friction (Dikici et al, 2022).…”

Section: Burrowing Strategies Depend On Depthmentioning

confidence: 99%

“…This image was rotated to align with other images in the figure; the robot is moving vertically (toward the left) (D) Peristaltic robot with paired expanding and elongating segments moving through a tube underwater (toward the right) ( Fang et al, 2021 ). (E) Peristaltic robot made from printed metamaterials with chaetae-like extensions added to create anisotropic friction ( Dikici et al, 2022 ).…”

Section: Burrowing Challenge 2: Moving Forward With a Soft Bodymentioning

confidence: 99%

Fundamentals of burrowing in soft animals and robots

Dorgan

Daltorio

2023

Front. Robot. AI

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Creating burrows through natural soils and sediments is a problem that evolution has solved numerous times, yet burrowing locomotion is challenging for biomimetic robots. As for every type of locomotion, forward thrust must overcome resistance forces. In burrowing, these forces will depend on the sediment mechanical properties that can vary with grain size and packing density, water saturation, organic matter and depth. The burrower typically cannot change these environmental properties, but can employ common strategies to move through a range of sediments. Here we propose four challenges for burrowers to solve. First, the burrower has to create space in a solid substrate, overcoming resistance by e.g., excavation, fracture, compression, or fluidization. Second, the burrower needs to locomote into the confined space. A compliant body helps fit into the possibly irregular space, but reaching the new space requires non-rigid kinematics such as longitudinal extension through peristalsis, unbending, or eversion. Third, to generate the required thrust to overcome resistance, the burrower needs to anchor within the burrow. Anchoring can be achieved through anisotropic friction or radial expansion, or both. Fourth, the burrower must sense and navigate to adapt the burrow shape to avoid or access different parts of the environment. Our hope is that by breaking the complexity of burrowing into these component challenges, engineers will be better able to learn from biology, since animal performance tends to exceed that of their robotic counterparts. Since body size strongly affects space creation, scaling may be a limiting factor for burrowing robotics, which are typically built at larger scales. Small robots are becoming increasingly feasible, and larger robots with non-biologically-inspired anteriors (or that traverse pre-existing tunnels) can benefit from a deeper understanding of the breadth of biological solutions in current literature and to be explored by continued research.

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“…26,27 Butyl demonstrates strain rate dependent viscoelastic behavior, a property which can be exploited to develop new soft metamaterials, loosely defined as materials which act contrary to what we expect from nature. 28 Unlike the materials described in the aforementioned hydrogel system, 24 as well as a recently reported ion gel bilayer system, 29 thermoplastic bilayer systems rely primarily on molecular entanglements between the two layers and an intrinsic mismatch of viscoelastic properties, without involving complications due to hydrogen bonding, inter-chain covalent bonding, and solvent-dependent phenomena found in gel systems. Understanding how viscoelasticity can be exploited to achieve complex motion may lead to improvements in the performance of stimuli-responsive materials and systems.…”

Section: Introductionmentioning

confidence: 99%