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Untethered soft robotic matter with passive control of shape morphing and propulsion
Science Robotics ( IF 25.0 ) Pub Date : 2019-08-21 , DOI: 10.1126/scirobotics.aax7044
Arda Kotikian 1 , Connor McMahan 2 , Emily C. Davidson 1 , Jalilah M. Muhammad 1 , Robert D. Weeks 1 , Chiara Daraio 2 , Jennifer A. Lewis 1
Affiliation  

Untethered, soft robotic matter repeatedly self-morphs and propels in response to thermal stimuli via active hinges. 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 (TNI) 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.

中文翻译:

不受束缚的软机器人物质,具有形状变形和推进力的被动控制

不受束缚的软机器人物质通过主动铰链响应热刺激而反复自我变形和推进。人们越来越关注创建不受束缚的软机器人物质,这种物质可以响应外部刺激而反复变形和自我推进。为了实现这一目标,我们印刷了由液晶弹性体(LCE)双层,正交指向矢对准和不同的向列向各向同性转变温度(TNI)组成的软机器人物体,以形成将聚合物砖相互连接的主动铰链。当加热到其各自的致动温度以上时,印刷的LCE铰链会表现出较大的可逆弯曲响应。通过改变其化学性质和印刷结构,可以对它们的致动响应进行编程。通过集成设计和增材制造方法,我们创建了被动控制,
更新日期:2019-08-21
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