拓扑机械绝缘体中孤子的非线性传导
Nonlinear conduction via solitons in a topological mechanical insulator
摘要：
由关节连接的刚性杆网络（称为连杆）提供了一个最小的框架来设计由折叠组件构建的机器人手臂和机械超材料。在这里，我们研究了一个链状的联系，根据线性弹性，表现得像一个拓扑机械绝缘体的零能量模式本地化的边缘。我们使用链的原型进行的简单实验生动地说明了最初定位在边缘的软运动实际上可以毫无阻碍地一直传播到另一端。我们证明使用真实的原型，模拟和分析模型，链是一个机械导体，其载波是非线性孤立波，而不是捕获线性弹性。事实上，链接原型可以被视为拓扑超材料的最简单的例子，其受保护的机械激励是孤子，在不同的拓扑机械相位之间移动畴壁。更实际地说，我们已经建立了一个拓扑保护机制，可以执行基本任务，例如将机械状态从一个位置传输到另一个位置。我们的工作铺平了道路，走向采用拓扑鲁棒性的原则，在设计的机器人组装从激活的联系，以及在复杂的分子纳米结构的制造。
英文摘要：
Networks of rigid bars connected by joints, termed linkages, provide a minimal framework to design robotic arms and mechanical metamaterials built out of folding components. Here, we investigate a chain-like linkage that, according to linear elasticity, behaves like a topological mechanical insulator whose zero-energy modes are localized at the edge. Simple experiments we performed using prototypes of the chain vividly illustrate how the soft motion, initially localized at the edge, can in fact propagate unobstructed all the way to the opposite end. We demonstrate using real prototypes, simulations and analytical models that the chain is a mechanical conductor, whose carriers are nonlinear solitary waves, not captured within linear elasticity. Indeed, the linkage prototype can be regarded as the simplest example of a topological metamaterial whose protected mechanical excitations are solitons, moving domain walls between distinct topological mechanical phases. More practically, we have built a topologically protected mechanism that can perform basic tasks such as transporting a mechanical state from one location to another. Our work paves the way towards adopting the principle of topological robustness in the design of robots assembled from activated linkages as well as in the fabrication of complex molecular nanostructures.
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