Programmable Assembly With Universally Foldable Strings (Moteins)
Programmable Assembly With Universally Foldable Strings (Moteins)
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DOI：
10.1109/tro.2011.2132951
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发表时间：
2011-08-01
影响因子：
7.8
通讯作者：
Griffith, Saul
中科院分区：
文献类型：
--
作者：
Cheung, Kenneth C.;Demaine, Erik D.;Griffith, Saul
了解线性弦如何折叠成二维和三维形状一直是学术界和工业界许多领域长期追求的目标。本文提出了一种技术来设计自组装和自重构系统，由非常简单的机器人模块的字符串。我们表明，物理字符串组成的一个小的离散多边形或多面体模块可以用来编程生成任何连续的区域或体积形状。这些模块可以具有一个或两个自由度（DOF）和仅具有两个或三个状态的简单致动器。我们描述了一个细分算法，以产生普遍的多边形和多面体字符串折叠模式，我们证明了存在一个连续的运动，以达到任何这样的折叠。这种技术是验证与动力学模拟以及实验与模块的链，包装在一个规则的立方晶格。我们称机器人可编程通用可折叠字符串“moteins”为电动蛋白质。
Understanding how linear strings fold into 2-D and 3-D shapes has been a long sought goal in many fields of both academia and industry. This paper presents a technique to design self-assembling and self-reconfigurable systems that are composed of strings of very simple robotic modules. We show that physical strings that are composed of a small set of discrete polygonal or polyhedral modules can be used to programmatically generate any continuous area or volumetric shape. These modules can have one or two degrees of freedom (DOFs) and simple actuators with only two or three states. We describe a subdivision algorithm to produce universal polygonal and polyhedral string folding schemas, and we prove the existence of a continuous motion to reach any such folding. This technique is validated with dynamics simulations as well as experiments with chains of modules that pack on a regular cubic lattice. We call robotic programmable universally foldable strings "moteins" as motorized proteins.