Kirigami skins make a simple soft actuator crawl
Kirigami skins make a simple soft actuator crawl
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DOI：
10.1126/scirobotics.aar7555
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发表时间：
2018-02-21
期刊：
影响因子：
25
通讯作者：
Bertoldi, Katia
中科院分区：
文献类型：
--
作者：
Rafsanjani, Ahmad;Zhang, Yuerou;Bertoldi, Katia
由高度变形材料制成的生物灵感软机器正在实现各种创新应用，但它们的运动通常需要几个独立激活的致动器。我们利用Kirigami原理显著增强了软执行器的爬行能力。我们设计了高度可伸缩的kirigami表面，其中机械不稳定性导致从平板到3D纹理表面的转变，类似于蛇的鳞片皮肤。首先，我们证明了这种转变伴随着表面摩擦性质的戏剧性变化。然后，我们证明，当缠绕在延伸的软致动器周围时，这些表面由屈曲引起的方向摩擦特性使系统能够有效地爬行。
Bioinspired soft machines made of highly deformable materials are enabling a variety of innovative applications, yet their locomotion typically requires several actuators that are independently activated. We harnessed kirigami principles to significantly enhance the crawling capability of a soft actuator. We designed highly stretchable kirigami surfaces in which mechanical instabilities induce a transformation from flat sheets to 3D-textured surfaces akin to the scaled skin of snakes. First, we showed that this transformation was accompanied by a dramatic change in the frictional properties of the surfaces. Then, we demonstrated that, when wrapped around an extending soft actuator, the buckling-induced directional frictional properties of these surfaces enabled the system to efficiently crawl.