Wang 瓷砖实现模块化力学超材料的组合设计与机器人辅助制造
Wang tiles enable combinatorial design and robot-assisted manufacturing of modular mechanical metamaterials
AI总结：
提出利用Wang瓷砖实现模块化力学超材料的非均匀设计，结合机器人辅助制造，优化L形域模块分布，实现软体夹持器极端倾斜，实验验证性能提升。
摘要：
在本文中，我们提出了一种新颖的模块化结构材料设计范式，该范式允许利用少量构建模块实现空间非均匀设计，这些模块可通过机器人组装以实现高效且可扩展的生产。通过利用 Wang 瓷砖实现构建模块之间的兼容性，克服了材料设计中传统的、限制设计的周期性。我们通过设计和制造一个受剪刀状软体夹持器启发的 L 形域来展示我们的方法，该域的内部模块分布经过优化，当手柄部分被均匀压缩时，可实现夹持器颌尖端的极端倾斜。单个模块的几何形状建立在由椭圆孔组成的 3×3 网格上，椭圆孔具有不同的半轴比和交替的取向。我们使用枚举方法结合阶乘搜索策略优化了 L 形域内模块的分布。为了应对模块化制造中无缝界面连接的挑战，我们通过将硅橡胶浇铸到由机器人臂自动组装的模块化模具中来生产最终设计。使用定制的开源硬件测试台 Thymos 并辅以数字图像相关测量，实验验证了预测性能。我们的研究证明了通过结合非均匀模块化设计和高效的机器人辅助制造来增强结构材料力学性能的潜力。
英文摘要：
In this paper, we introduce a novel design paradigm for modular architectured materials that allows for spatially nonuniform designs from a handful of building blocks, which can be robotically assembled for efficient and scalable production. The traditional, design-limiting periodicity in material design is overcome by utilizing Wang tiles to achieve compatibility among building blocks. We illustrate our approach with the design and manufacturing of an L-shaped domain inspired by a scissor-like soft gripper, whose internal module distribution was optimized to achieve an extreme tilt of a tip of the gripper's jaw when the handle part was uniformly compressed. The geometry of individual modules was built on a 3$\times$3 grid of elliptical holes with varying semi-axes ratios and alternating orientations. We optimized the distribution of the modules within the L-shaped domain using an enumeration approach combined with a factorial search strategy. To address the challenge of seamless interface connections in modular manufacturing, we produced the final designs by casting silicone rubber into modular molds automatically assembled by a robotic arm. The predicted performance was validated experimentally using a custom-built, open-hardware test rig, Thymos, supplemented with digital image correlation measurements. Our study demonstrates the potential for enhancing the mechanical performance of architectured materials by incorporating nonuniform modular designs and efficient robot-assisted manufacturing.
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