Untethered soft robotic matter with passive control of shape morphing and propulsion
Untethered soft robotic matter with passive control of shape morphing and propulsion
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DOI：
10.1126/scirobotics.aax7044
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发表时间：
2019-08-21
期刊：
影响因子：
25
通讯作者：
Lewis, Jennifer A.
中科院分区：
文献类型：
--
作者：
Kotikian, Arda;McMahan, Connor;Lewis, Jennifer A.
人们越来越有兴趣创造不受束缚的软机器人物质，可以反复变形和自我推进，以响应外部刺激。为了实现这一目标，我们印刷了由液晶弹性体（LCE）双层组成的软机器人物质，该双层具有正交指向矢对准和不同的向列向同性转变温度（T-NI），以形成互连聚合物瓷砖的主动铰链。当加热到它们各自的致动温度以上时，印刷的LCE铰链表现出大的可逆弯曲响应。它们的驱动响应是通过改变它们的化学和印刷结构来编程的。通过集成设计和增材制造方法，我们创造了被动控制的，不受约束的软机器人物质，根据需求采用特定任务的配置，包括具有三种稳定配置的自扭曲折纸多面体和组装成五棱柱并对热刺激进行编程响应的“rollbot”。
There is growing interest in creating untethered soft robotic matter that can repeatedly shape-morph and self-propel in response to external stimuli. Toward this goal, we printed soft robotic matter composed of liquid crystal elastomer (LCE) bilayers with orthogonal director alignment and different nematic-to-isotropic transition temperatures (T-NI) to form active hinges that interconnect polymeric tiles. When heated above their respective actuation temperatures, the printed LCE hinges exhibit a large, reversible bending response. Their actuation response is programmed by varying their chemistry and printed architecture. Through an integrated design and additive manufacturing approach, we created passively controlled, untethered soft robotic matter that adopts task-specific configurations on demand, including a self-twisting origami polyhedron that exhibits three stable configurations and a "rollbot" that assembles into a pentagonal prism and self-rolls in programmed responses to thermal stimuli.