柔性机器人对称破缺驱动机理与主动超材料
Symmetry-breaking Actuation Mechanism for Soft Robotics and Active Metamaterials
摘要：
磁响应复合材料是由软基体和硬磁性颗粒组成的，是一种具有快速变换驱动能力的软活性材料。然而，功能部件的变形通常在外部刺激下仅获得单一致动模式，这限制了它们实现可调谐特性的能力。为了大大提高软活性材料的多功能性，我们开发了一类新的可编程磁响应复合材料，其结合了多功能关节设计，允许在外部刺激下的非对称多模态致动。我们证明了所提出的非对称多模态驱动能够实现大量的新应用，从具有非对称形状变化的基本1D/2D主动结构到具有有效动态性能的仿生爬行和游泳机器人以及具有可调特性的2D超材料。这种新的非对称多模态驱动机制将为下一代多功能软机器人，生物医学设备和声学超材料的设计开辟新的途径。
英文摘要：
Magnetic-responsive composites that consist of soft matrix embedded with hard-magnetic particles have recently been demonstrated as robust soft active materials for fast-transforming actuation. However, the deformation of the functional components commonly attains only a single actuation mode under external stimuli, which limits their capability of achieving tunable properties. To greatly enhance the versatility of soft active materials, we exploit a new class of programmable magnetic-responsive composites incorporated with a multifunctional joint design that allows asymmetric multimodal actuation under an external stimulation. We demonstrate that the proposed asymmetric multimodal actuation enables a plethora of novel applications ranging from the basic 1D/2D active structures with asymmetric shape-shifting to biomimetic crawling and swimming robots with efficient dynamic performance as well as 2D metamaterials with tunable properties. This new asymmetric multimodal actuation mechanism will open new avenues for the design of next-generation multifunctional soft robots, biomedical devices, and acoustic metamaterials.
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