在软圆柱形结构中通过可编程序列不稳定性进行复杂的变形
Yi Yang1, Helen Read1, Mohammed Sbai1
1J.A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138, USA.
Advanced materials (Deerfield Beach, Fla.)
|September 6, 2024
概括
超弹性圆柱形外在负压下,使可编程的充气结构成为可能. 研究人员确定了设计参数,以控制软机器的扭曲-收缩和曲等曲后变形模式.
科学领域:
- 软机器人软机器人 软机器人
- 材料科学是一种材料科学.
- 机械工程 机械工程 机械工程
背景情况:
- 超弹性圆柱形外在压力下表现出显著的变形,使它们适合可编程充气结构.
- 这些外在真空下的初始曲行为是可以理解的,但曲后的状态仍然不太被探索.
研究的目的:
- 为了研究在负压下超弹性圆柱形外的曲后行为.
- 为了确定控制曲后变形模式的设计参数.
- 为了利用不稳定驱动的变形来创建可编程软机器.
主要方法:
- 在不同负压下对超弹性圆柱形外进行实验分析.
- 贝几何学的系统变化 (例如,均的贝) 和厚度分布.
- 观察和描述曲后的变形模式,包括合扭曲收缩和曲.
主要成果:
- 在设计空间中确定了一个特定的区域,该区域表现出结合的扭曲-收缩后曲折变形模式.
- 扭曲与收缩的比例可以通过调整均外的几何来精确控制.
- 曲作为曲后的模式可以通过环形变化的外厚度来诱导.
结论:
- 超弹性圆柱体外的曲后模式提供了丰富的可回收的变形模式.
- 通过几何和厚度设计,可以实现对扭曲-收缩和曲变形的可编程控制.
- 这些不稳定性驱动的可回收变形可以用来开发由单个执行输入可编程运动的软机器.
相关概念视频
Plastic Deformation in Circular Shafts
182
When materials are subjected to forces that surpass their yield strength, they undergo a process known as plastic deformation. This results in a permanent alteration or strain in their structure. This concept can be specifically applied to circular shafts, where the deformation leads to a change in its shape. The precise evaluation of this plastic deformation requires understanding the stress distribution within the circular shaft, which is achieved by calculating the maximum shearing stress in...
182
Deformation in a Circular Shaft
273
One of the distinctive characteristics of circular shafts is their ability to maintain their cross-sectional integrity under torsion. In other words, each cross-section continues to exist as a flat, unaltered entity, simply rotating like a solid, rigid slab. To understand the distribution of shearing stress within such a shaft, consider a cylindrical section inside this circular shaft. This section has a length of L and a radius of R, with one end fixed. The radius of the cylindrical section is...
273
Plastic Deformations
123
Plastic deformation represents a fundamental concept in materials science, which explains the irreversible change in the shape of a material when it experiences stress beyond its elastic capability. This phenomenon is important in structural engineering, especially in designing and analyzing cantilever beams—structures that are securely fixed at one end and bear loads at the opposite end. When these beams are subjected to loads within their elastic range, they will return to their...
123
Deformation of Member under Multiple Loadings
159
When a rod is made of different materials or has various cross-sections, it must be divided into parts that meet the necessary conditions for determining the deformation. These parts are each characterized by their internal force, cross-sectional area, length, and modulus of elasticity. These parameters are then used to compute the deformation of the entire rod.
In the case of a member with a variable cross-section, the strain is not constant but depends on the position. The deformation of an...
In the case of a member with a variable cross-section, the strain is not constant but depends on the position. The deformation of an...
159
Temperature Dependent Deformation
143
In a nonhomogeneous rod made up of steel and brass, restrained at both ends and subjected to a temperature change, several steps are involved in calculating the stress and compressive load. Due to the problem's static indeterminacy, one end support is disconnected, allowing the rod to experience the temperature change freely. Next, an unknown force is applied at the free end, triggering deformations in the rod's steel and brass portions. These deformations are then calculated and added...
143
Plastic Deformations of Members with a Single Plane of Symmetry
86
When a structural member undergoes plastic deformation due to bending, it is crucial to understand the position of the neutral axis and the stress distribution. This member, characterized by a single plane of symmetry, exhibits a uniform stress distribution, with negative stress above the neutral axis and positive stress below. Notably, the neutral axis does not align with the centroid of the cross-section. This misalignment is typical in cases where the cross-section is not rectangular or...
86


