This article describes a new principle for designing soft or ‘semisoft’ pneumatic actuators: SLiT (for SLit‐in‐Tube) actuators. Inflating an elastomeric balloon, when enclosed by an external shell (a material with higher Young's modulus) containing slits of different directions and lengths, produces a variety of motions, including bending, twisting, contraction, and elongation. The requisite pressure for actuation depends on the length of the slits, and this dependence allows sequential actuation by controlling the applied pressure. Different actuators can also be controlled using external “sliders” that act as reprogrammable “on‐off” switches. A pneumatic arm and a walker constructed from SLiT actuators demonstrate their ease of fabrication and the range of motions they can achieve.
- NSF-PAR ID:
- 10417845
- Date Published:
- Journal Name:
- Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences
- Volume:
- 479
- Issue:
- 2272
- ISSN:
- 1364-5021
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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Abstract -
null (Ed.)Soft pneumatic actuators have found many applications in robotics and adaptive structures. Traditionally, these actuators are constructed by wrapping layers of reinforcing helical fibers around an elastomeric tube. This approach is versatile and robust, but it suffers from a critical disadvantage: cumbersome fabrication procedures. Wrapping long helical filaments around a cylindrical tube requires expensive equipment or excessive manual labor. To address this issue, we propose a new approach towards designing and constructing pneumatic actuators by exploiting the principle of kirigami, the ancient art of paper cutting. More specifically, we use “kirigami skins” — plastic sleeves with carefully arranged slit cuts — to replace the reinforcing helical fibers. This paper presents an initial investigation on a set of linear extension actuators featuring kirigami skins with a uniform array of cross-shaped, orthogonal cuts. When under internal pressurization, the rectangular-shaped facets defined by these cuts can rotate and induce the desired extension motion. Through extensive experiments, we analyze the elastic and plastic deformations of these kirigami skins alone under tension. The results show strongly nonlinear behaviors involving both in-plane facet rotation the out-of-plane buckling. Such a deformation pattern offers valuable insights into the actuator’s performance under pressure. Moreover, both the deformation characteristics and actuation performance are “programmable” by tailoring the cut geometry. This study lays down the foundation for constructing more capable Kirigami-skinned soft actuators that can achieve sophisticated motions.more » « less
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Image formation by Fresnel diffraction utilizes both absorption and phase-contrast to measure electron density profiles. The low spatial and spectral coherence requirements allow the technique to be performed with a laser-produced x-ray source coupled with a narrow slit. This makes it an excellent candidate for probing interfaces between materials at extreme conditions, which can only be generated at large-scale laser or pulsed power facilities. Here, we present the results from a proof-of-principle experiment demonstrating an effective ∼2 μm laser-generated source at the OMEGA Laser Facility. This was achieved using slits of 1 × 30 μm 2 and 2 × 40 μm 2 geometry, which were milled into 30 μm thick Ta plates. Combining these slits with a vanadium He-like 5.2 keV source created a 1D imaging system capable of micrometer-scale resolution. The principal obstacles to achieving an effective 1 μm source are the slit tilt and taper—where the use of a tapered slit is necessary to increase the alignment tolerance. We demonstrate an effective source size by imaging a 2 ± 0.2 μm radius tungsten wire.more » « less
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