Untethered control of functional origami microrobots with distributed actuation
Untethered control of functional origami microrobots with distributed actuation
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DOI：
10.1073/pnas.2013292117
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发表时间：
2020-09-29
影响因子：
11.1
通讯作者：
Zhao, Ruike
中科院分区：
文献类型：
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作者：
Novelino, Larissa S.;Ze, Qiji;Zhao, Ruike
可部署性、多功能性和可调性是可以在折纸工程解决方案的设计空间中探索的特性。这些特征来自折纸组件的形状变化能力，这需要有效的驱动来实现全部功能。当前的致动策略依赖于慢速、系绳式或笨重的致动器(或两者的组合)。为了扩大折纸设计的应用范围，我们介绍了一种磁控折纸系统。我们将双稳态Kresling图案的几何和机械特性与磁响应材料耦合在一起，以可控的速度实现不受约束的局部/分布式驱动，其速度可达十分之一秒，并具有瞬时形状锁定。我们展示了这种策略如何促进多细胞组件的多模态驱动，其中任何单元细胞都可以独立折叠和部署，从而允许动态可编程性。此外，我们还演示了Kresling组件如何作为可调物理特性和数字计算的基础。磁性折纸系统适用于折纸机器人、变形结构和器件、超材料以及具有多物理场响应的多功能器件。
Deployability, multifunctionality, and tunability are features that can be explored in the design space of origami engineering solutions. These features arise from the shape-changing capabilities of origami assemblies, which require effective actuation for full functionality. Current actuation strategies rely on either slow or tethered or bulky actuators (or a combination). To broaden applications of origami designs, we introduce an origami system with magnetic control. We couple the geometrical and mechanical properties of the bistable Kresling pattern with a magnetically responsive material to achieve untethered and local/distributed actuation with controllable speed, which can be as fast as a tenth of a second with instantaneous shape locking. We show how this strategy facilitates multimodal actuation of the multicell assemblies, in which any unit cell can be independently folded and deployed, allowing for on-the-fly programmability. In addition, we demonstrate how the Kresling assembly can serve as a basis for tunable physical properties and for digital computing. The magnetic origami systems are applicable to origami-inspired robots, morphing structures and devices, metamaterials, and multifunctional devices with multiphysics responses.