Nuts and bolts of supersymmetry

A topological mechanism is a zero elastic-energy deformation of a mechanical structure that is robust against smooth changes in system parameters. Here, we map the nonlinear elasticity of a paradigmatic class of topological mechanisms onto linear fermionic models using a supersymmetric field theory introduced by Witten and Olive. Heuristically, this approach consists of taking the square root of a non-linear Hamiltonian and generalizes the standard procedure of obtaining two copies of Dirac equation from the square root of the linear Klein Gordon equation. Our real space formalism goes beyond topological band theory by incorporating non-linearities and spatial inhomogeneities, such as domain walls, where topological states are typically localized. By viewing the two components of the real fermionic field as site and bond displacements respectively, we determine the relation between the supersymmetry transformations and the Bogomolny-Prasad-Sommerfield (BPS) bound saturated by the mechanism. We show that the mechanical constraint, which enforces a BPS saturated kink into the system, simultaneously precludes an anti-kink. This mechanism breaks the usual kink-antikink symmetry and can be viewed as a manifestation of the underlying supersymmetry being half-broken.Comment: 14 pages, 5 figure

Kink-antikink asymmetry and impurity interactions in topological mechanical chains

We study the dynamical response of a diatomic periodic chain of rotors coupled by springs, whose unit cell breaks spatial inversion symmetry. In the continuum description, we derive a nonlinear field theory which admits topological kinks and antikinks as nonlinear excitations but where a topological boundary term breaks the symmetry between the two and energetically favors the kink configuration. Using a cobweb plot, we develop a fixed-point analysis for the kink motion and demonstrate that kinks propagate without the Peierls-Nabarro potential energy barrier typically associated with lattice models. Using continuum elasticity theory, we trace the absence of the Peierls-Nabarro barrier for the kink motion to the topological boundary term which ensures that only the kink configuration, and not the antikink, costs zero potential energy. Further, we study the eigenmodes around the kink and antikink configurations using a tangent stiffness matrix approach appropriate for pre-stressed structures to explicitly show how the usual energy degeneracy between the two no longer holds. We show how the kink-antikink asymmetry also manifests in the way these nonlinear excitations interact with impurities introduced in the chain as disorder in the spring stiffness. Finally, we discuss the effect of impurities in the (bond) spring length and build prototypes based on simple linkages that verify our predictions.Comment: 20 pages, 21 figure

Origami Multistabilty: From Single Vertices to Metasheets

We explore the surprisingly rich energy landscape of origami-like folding planar structures. We show that the configuration space of rigid-paneled degree-4 vertices, the simplest building blocks of such systems, consists of at least two distinct branches meeting at the flat state. This suggests that generic vertices are at least bistable, but we find that the nonlinear nature of these branches allows for vertices with as many as five distinct stable states. In vertices with collinear folds and/or symmetry, more branches emerge leading to up to six stable states. Finally, we introduce a procedure to tile arbitrary 4-vertices while preserving their stable states, thus allowing the design and creation of multistable origami metasheets.Comment: For supplemental movies please visit http://www.lorentz.leidenuniv.nl/~chen/multisheet

The Power of Poincar\'e: Elucidating the Hidden Symmetries in Focal Conic Domains

Focal conic domains are typically the "smoking gun" by which smectic liquid crystalline phases are identified. The geometry of the equally-spaced smectic layers is highly generic but, at the same time, difficult to work with. In this Letter we develop an approach to the study of focal sets in smectics which exploits a hidden Poincar\'e symmetry revealed only by viewing the smectic layers as projections from one-higher dimension. We use this perspective to shed light upon several classic focal conic textures, including the concentric cyclides of Dupin, polygonal textures and tilt-grain boundaries.Comment: 4 pages, 3 included figure

Block-and-hole graphs: Constructibility and (3,0)(3,0)-sparsity

We show that minimally 3-rigid block-and-hole graphs, with one block or one hole, are characterised as those which are constructible from $K_3$ by vertex splitting, and also, as those having associated looped face graphs which are $(3,0)$-tight. This latter property can be verified in polynomial time by a form of pebble game algorithm. We also indicate connections to the rigidity properties of polyhedral surfaces known as origami and to graph rigidity in $\ell_p^3$ for $p\not=2$.Comment: 17 page

Nonlinear conduction via solitons in a topological mechanical insulator

Networks of rigid bars connected by joints, termed linkages, provide a minimal framework to design robotic arms and mechanical metamaterials built out of folding components. Here, we investigate a chain-like linkage that, according to linear elasticity, behaves like a topological mechanical insulator whose zero-energy modes are localized at the edge. Simple experiments we performed using prototypes of the chain vividly illustrate how the soft motion, initially localized at the edge, can in fact propagate unobstructed all the way to the opposite end. We demonstrate using real prototypes, simulations and analytical models that the chain is a mechanical conductor, whose carriers are nonlinear solitary waves, not captured within linear elasticity. Indeed, the linkage prototype can be regarded as the simplest example of a topological metamaterial whose protected mechanical excitations are solitons, moving domain walls between distinct topological mechanical phases. More practically, we have built a topologically protected mechanism that can perform basic tasks such as transporting a mechanical state from one location to another. Our work paves the way towards adopting the principle of topological robustness in the design of robots assembled from activated linkages as well as in the fabrication of complex molecular nanostructures.Comment: 9 pages, 9 figures, see http://lorentz.leidenuniv.nl/~chen/kinks for Supporting movies. v2: New section in appendix, new figure