AI 中文总结
研究充气结构形状和刚度的影响因素，通过将管横截面建模为耦合杆，定量描述其几何和力学特性，发现刚度不对称会导致与压力相关的卷曲和变硬，挑战常见假设，还能实现多可编程控制，是功能性形状变形物体的通用平台。
AI 中文摘要
由薄片制成的充气结构是传统软机器人的一种轻质、可扩展的替代方案。由于薄片基本不可拉伸但抗弯性低，直管形状本应由体积最大化确定。但研究表明，由两种不同刚度薄片制成的平行管网络并非如此，其整体形状由相邻管连接处的结合角决定。通过该角度，刚度不对称会导致网络产生与压力相关的卷曲和变硬。将管横截面建模为两个耦合杆，定量描述了这类新型充气结构的几何和力学特性。该模型捕捉到了如刚度与压力平方根成比例以及相邻管间接触诱导变硬等意外力学特征，挑战了薄片充气结构的常见假设。与先前限于高压情况的工作不同，并能在连续曲率范围内进行多可编程控制。通过各种示例表明，不对称管网络是功能性形状变形物体的通用平台。
英文摘要
Inflatables made of thin sheets constitute a lightweight, scalable alternative to conventional soft robots. Since sheets are essentially inextensible while offering low resistance to bending, the shape of a straight tube should be trivially set by volume maximization. We show that networks of parallel tubes made from two sheets differing in stiffness defy this expectation as their global shape is governed by the binding angle at the junctions of adjacent tubes. Through this angle, the stiffness asymmetry induces a pressure-dependent curling and stiffening of the networks. Modeling a tube cross-section as two coupled rods, we quantitatively describe the geometry and mechanics of this new class of inflatables. Our model captures unexpected mechanical features such as a stiffness scaling as the square root of pressure and a contact-induced stiffening between neighboring tubes -- challenging common assumptions on thin-sheet inflatables. Unlike prior work restricted to the high-pressure regime, the pressure-dependent description further enables multiprogrammable control over a continuous range of curvatures. Discussing a variety of examples, we finally show that networks of asymmetric tubes are a versatile platform for functional shape-morphing objects.
