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Bioinspired, Shape-Morphing Scale Battery for Untethered Soft Robots
Soft Robotics ( IF 7.9 ) Pub Date : 2022-06-08 , DOI: 10.1089/soro.2020.0175
Myoung-Ho Kim 1, 2 , Seunghoon Nam 1 , Minsub Oh 1 , Hoo-Jeong Lee 2, 3 , Bongkyun Jang 1, 4 , Seungmin Hyun 1, 4
Affiliation  

Geometrically multifunctional structures inspired by nature can address the challenges in the development of soft robotics. A bioinspired structure based on origami and kirigami can significantly enhance the stretchability and reliability of soft robots. This study proposes a novel structure with individual, overlapping units, similar to snake scales that can be used to construct shape-morphing batteries for untethered soft robots. The structure is created by folding well-defined, two-dimensional patterns with cutouts. The folding lines mimic the hinge structure of snakeskin, enabling stable deformations without mechanical damage to rigid cells. The structure realizes multi-axial deformability and a zero Poisson's ratio without off-axis distortion to the loading axis. Moreover, to maximize areal density, the optimal cell shape is designed as a hexagon. The structure is applied to a stretchable Li-ion battery, constructed to form an arrangement of electrically interconnected, hexagonal pouch cells. In situ electrochemical characterization and numerical simulation confirm that the shape-morphing scale battery maintains its performance under dynamic deformation with a 90% stretching ratio and 10-mm-radius bending curve, guaranteeing a long-lasting charging/discharging cycle life during cyclic bending and stretching (exceeding 36,000 cycles). Finally, the shape-morphing energy storage device is applied to movable robots, mimicking crawling and slithering, to demonstrate excellent conformability and deformability.

中文翻译:

用于不受束缚的软机器人的仿生、变形规模电池

受自然启发的几何多功能结构可以解决软机器人开发中的挑战。基于折纸和剪纸的仿生结构可以显着提高软机器人的可拉伸性和可靠性。这项研究提出了一种新颖的结构,具有单独的重叠单元,类似于蛇鳞,可用于为无绳软机器人构建变形电池。该结构是通过折叠带有切口的明确定义的二维图案而创建的。折叠线模仿蛇皮的铰链结构,可实现稳定变形,而不会对刚性细胞造成机械损伤。该结构实现了多轴变形能力和零泊松比,加载轴没有离轴变形。此外,为了最大化面密度,最佳细胞形状设计为六边形。该结构应用于可拉伸的锂离子电池,构造成形成电互连的六边形软包电池的排列。原位电化学表征和数值模拟证实,形状变形规模电池在动态变形下保持其性能,具有 90% 的拉伸比和 10 mm 半径的弯曲曲线,保证了在循环弯曲过程中持久的充放电循环寿命和拉伸(超过 36,000 次循环)。最后,将变形储能装置应用于可移动机器人,模仿爬行和滑行,表现出优异的顺应性和变形能力。
更新日期:2022-06-09
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