59,166 research outputs found

    Programming complex shapes in thin nematic elastomer and glass sheets

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    Nematic elastomers and glasses are solids that display spontaneous distortion under external stimuli. Recent advances in the synthesis of sheets with controlled heterogeneities have enabled their actuation into non-trivial shapes with unprecedented energy density. Thus, these have emerged as powerful candidates for soft actuators. To further this potential, we introduce the key metric constraint which governs shape changing actuation in these sheets. We then highlight the richness of shapes amenable to this constraint through two broad classes of examples which we term nonisometric origami and lifted surfaces. Finally, we comment on the derivation of the metric constraint, which arises from energy minimization in the interplay of stretching, bending and heterogeneity in these sheets

    Patterning nonisometric origami in nematic elastomer sheets

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    Nematic elastomers dramatically change their shape in response to diverse stimuli including light and heat. In this paper, we provide a systematic framework for the design of complex three dimensional shapes through the actuation of heterogeneously patterned nematic elastomer sheets. These sheets are composed of \textit{nonisometric origami} building blocks which, when appropriately linked together, can actuate into a diverse array of three dimensional faceted shapes. We demonstrate both theoretically and experimentally that: 1) the nonisometric origami building blocks actuate in the predicted manner, 2) the integration of multiple building blocks leads to complex multi-stable, yet predictable, shapes, 3) we can bias the actuation experimentally to obtain a desired complex shape amongst the multi-stable shapes. We then show that this experimentally realized functionality enables a rich possible design landscape for actuation using nematic elastomers. We highlight this landscape through theoretical examples, which utilize large arrays of these building blocks to realize a desired three dimensional origami shape. In combination, these results amount to an engineering design principle, which we hope will provide a template for the application of nematic elastomers to emerging technologies

    Porous composite with negative thermal expansion obtained by photopolymer additive manufacturing

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    Additive manufacturing (AM) could be a novel method of fabricating composite and porous materials having various effective performances based on mechanisms of their internal geometries. Materials fabricated by AM could rapidly be used in industrial application since they could easily be embedded in the target part employing the same AM process used for the bulk material. Furthermore, multi-material AM has greater potential than usual single-material AM in producing materials with effective properties. Negative thermal expansion is a representative effective material property realized by designing a composite made of two materials with different coefficients of thermal expansion. In this study, we developed a porous composite having planar negative thermal expansion by employing multi-material photopolymer AM. After measurement of the physical properties of bulk photopolymers, the internal geometry was designed by topology optimization, which is the most effective structural optimization in terms of both minimizing thermal stress and maximizing stiffness. The designed structure was converted to a three-dimensional STL model, which is a native digital format of AM, and assembled as a test piece. The thermal expansions of the specimens were measured using a laser scanning dilatometer. The test pieces clearly showed negative thermal expansion around room temperature.Comment: 11 pages, 4 figure

    On the consistency of Fr\'echet means in deformable models for curve and image analysis

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    A new class of statistical deformable models is introduced to study high-dimensional curves or images. In addition to the standard measurement error term, these deformable models include an extra error term modeling the individual variations in intensity around a mean pattern. It is shown that an appropriate tool for statistical inference in such models is the notion of sample Fr\'echet means, which leads to estimators of the deformation parameters and the mean pattern. The main contribution of this paper is to study how the behavior of these estimators depends on the number n of design points and the number J of observed curves (or images). Numerical experiments are given to illustrate the finite sample performances of the procedure

    The kinematics of hyper-redundant robot locomotion

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    This paper considers the kinematics of hyper-redundant (or “serpentine”) robot locomotion over uneven solid terrain, and presents algorithms to implement a variety of “gaits”. The analysis and algorithms are based on a continuous backbone curve model which captures the robot's macroscopic geometry. Two classes of gaits, based on stationary waves and traveling waves of mechanism deformation, are introduced for hyper-redundant robots of both constant and variable length. We also illustrate how the locomotion algorithms can be used to plan the manipulation of objects which are grasped in a tentacle-like manner. Several of these gaits and the manipulation algorithm have been implemented on a 30 degree-of-freedom hyper-redundant robot. Experimental results are presented to demonstrate and validate these concepts and our modeling assumptions
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