Growing structure based on viscous actuation of constrained multistable elements
Growing soft materials which follow a 3D path in space are critical to applications such as search and rescue and minimally invasive surgery. Here, we present a concept for a single-input growing multi-stable soft material, based on a constrained straw-like structure. This class of materials are cap...
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Zusammenfassung: | Growing soft materials which follow a 3D path in space are critical to
applications such as search and rescue and minimally invasive surgery. Here, we
present a concept for a single-input growing multi-stable soft material, based
on a constrained straw-like structure. This class of materials are capable of
maneuvering and transforming their configuration by elongation while executing
multiple turns. This is achieved by sequenced actuation of bi-stable frusta
with predefined constraints. Internal viscous flow and variations in the
stability threshold of the individual cells enable sequencing and control of
the robot's movement so as to follow a desired 3D path as the structure grows.
We derive a theoretical description of the shape and dynamics resulting from a
particular set of constraints. To validate the model and demonstrate the
suggested concept, we present experiments of maneuvering in models of
residential and biological environments. In addition to performing complex 3D
maneuvers, the tubular structure of these robots may also be used as a conduit
to reach inaccessible regions, which is demonstrated experimentally. |
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DOI: | 10.48550/arxiv.2302.03034 |