为具有弹出式折叠铰链的剪纸超材料表皮定制各向异性摩擦
Tailoring asymmetry for anisotropic friction in kirigami metamaterial skins with pop-up folding hinges
AI总结：
本文提出使用具有弹出式折叠铰链的剪纸超材料表皮，通过参数化设计放宽对称性约束，实现全局膨胀或收缩，并产生各向异性摩擦，为软体机器人单向运动提供最期望的属性。
摘要：
剪纸超材料片材和管材，因其能够经历大的弹性变形同时形成三维表面纹理，作为软体机器人的表皮具有巨大潜力。在此背景下，我们提出使用具有折叠铰链的剪纸表皮。这类近期引入的剪纸结构具有由弹出式折叠铰链连接的反向旋转面板。迄今为止，研究人员仅探索了此类图案的拉胀和高对称性版本。然而，为了充分挖掘其作为机器人表皮的潜力，必须放宽其中一些属性。因此，我们对这些图案进行参数化并放宽对称性约束，旨在利用同一平台获得广泛的形态变化行为。我们推导了运动学公式，以探索由对称性赋予的广阔设计空间。随后，我们通过数值模拟和实验验证了运动学预测，并探究了管状表皮的形变力学机制。最后，通过实验，我们提供了由不对称弹出式结构带来的各向异性摩擦的初步证据。因此，我们证明了可以通过定制具有折叠铰链的剪纸参数，获得在轴向拉伸下全局膨胀或收缩的表皮，并呈现产生各向异性摩擦的不对称弹出结构——这是软体机器人单向运动最期望的属性。
英文摘要：
Kirigami metamaterial sheets and tubes, owing to their capacity to undergo large elastic deformations while developing three-dimensional surface textures, have enormous potential as skins for soft robots. Here, we propose to use kirigami skins with folding hinges in this same context. These recently-introduced kirigami feature counter-rotating panels connected by pop-up folding hinges. So far, researchers have only explored auxetic and highly-symmetric versions of such patterns. Yet, some of these attributes have to be relaxed in order to explore their full potential as robotic skins. Thus, we parameterize these patterns and relax symmetry constraints, with the goal of using this same platform to obtain a wide range of shape-morphing behaviors. We derive kinematic formulas to explore the vast symmetry-enabled design space. We then use numerical simulations and experiments to validate the kinematic predictions and to explore the morphing mechanics of tubular skins. Finally, via experiments, we provide preliminary evidence of the anisotropic friction enabled by patterns with asymmetric pop-ups. We therefore demonstrate that it is possible to tailor parameters in kirigami with folding hinges to obtain skins that globally expand or contract due to axial elongation, and that present asymmetric pop-ups that yield anisotropic friction -- the most desired attribute for one-way locomotion of soft robots.
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