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Abstract Shape-morphing capabilities are crucial for enabling multifunctionality in both biological and artificial systems. Various strategies for shape morphing have been proposed for applications in metamaterials and robotics. However, few of these approaches have achieved the ability to seamlessly transform into a multitude of volumetric shapes post-fabrication using a relatively simple actuation and control mechanism. Taking inspiration from thick origami and hierarchies in nature, we present a hierarchical construction method based on polyhedrons to create an extensive library of compact origami metastructures. We show that a single hierarchical origami structure can autonomously adapt to over 103versatile architectural configurations, achieved with the utilization of fewer than 3 actuation degrees of freedom and employing simple transition kinematics. We uncover the fundamental principles governing theses shape transformation through theoretical models. Furthermore, we also demonstrate the wide-ranging potential applications of these transformable hierarchical structures. These include their uses as untethered and autonomous robotic transformers capable of various gait-shifting and multidirectional locomotion, as well as rapidly self-deployable and self-reconfigurable architecture, exemplifying its scalability up to the meter scale. Lastly, we introduce the concept of multitask reconfigurable and deployable space robots and habitats, showcasing the adaptability and versatility of these metastructures.
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Designing continuous equilibrium structures that counteract gravity in any orientation
Abstract This paper presents a framework that can transform reconfigurable structures into systems with continuous equilibrium. The method involves adding optimized springs that counteract gravity to achieve a system with a nearly flat potential energy curve. The resulting structures can move or reconfigure effortlessly through their kinematic paths and remain stable in all configurations. Remarkably, our framework can design systems that maintain continuous equilibrium during reorientation, so that a system maintains a nearly flat potential energy curve even when it is rotated with respect to a global reference frame. This ability to reorient while maintaining continuous equilibrium greatly enhances the versatility of deployable and reconfigurable structures by ensuring they remain efficient and stable for use in different scenarios. We apply our framework to several planar four-bar linkages and explore how spring placement, spring types, and system kinematics affect the optimized potential energy curves. Next, we show the generality of our method with more complex linkage systems that carry external masses and with a three-dimensional origami-inspired deployable structure. Finally, we adopt a traditional structural engineering approach to give insight on practical issues related to the stiffness, reduced actuation forces, and locking of continuous equilibrium systems. Physical prototypes support the computational results and demonstrate the effectiveness of our method. The framework introduced in this work enables the stable, and efficient actuation of reconfigurable structures under gravity, regardless of their global orientation. These principles have the potential to revolutionize the design of robotic limbs, retractable roofs, furniture, consumer products, vehicle systems, and more.
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- Award ID(s):
- 1943723
- PAR ID:
- 10414145
- Publisher / Repository:
- Nature Publishing Group
- Date Published:
- Journal Name:
- Scientific Reports
- Volume:
- 13
- Issue:
- 1
- ISSN:
- 2045-2322
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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