Programming temporal morphing of self-actuated shells

Advances in shape-morphing materials, such as hydrogels, shape-memory polymers and light-responsive polymers have enabled prescribing self-directed deformations of initially flat geometries. However, most proposed solutions evolve towards a target geometry without considering time-dependent actuation paths. To achieve more complex geometries and avoid self-collisions, it is critical to encode a spatial and temporal shape evolution within the initially flat shell. Recent realizations of time-dependent morphing are limited to the actuation of few, discrete hinges and cannot form doubly curved surfaces. Here, we demonstrate a method for encoding temporal shape evolution in architected shells that assume complex shapes and doubly curved geometries. The shells are non-periodic tessellations of pre-stressed contractile unit cells that soften in water at rates prescribed locally by mesostructure geometry. The ensuing midplane contraction is coupled to the formation of encoded curvatures. We propose an inverse design tool based on a data-driven model for unit cells’ temporal responses

Compliant morphing structures from twisted bulk metallic glass ribbons

In this work, we investigate the use of pre-twisted metallic ribbons as building blocks for shape-changing structures. We manufacture these elements by twisting initially flat ribbons about their (lengthwise) centroidal axis into a helicoidal geometry, then thermoforming them to make this configuration a stress-free reference state. The helicoidal shape allows the ribbon to have preferred bending directions that vary throughout its length. These bending directions serve as compliant joints and enable several deployed and stowed configurations that are unachievable without pre-twist, provided that compaction does not induce material failure. We fabricate these ribbons using a bulk metallic glass (BMG), for its exceptional elasticity and thermoforming attributes. Combining numerical simulations, an analytical model based on shell theory and torsional experiments, we analyze the finite-twisting mechanics of various ribbon geometries. We find that, in ribbons with undulated edges, the twisting deformations can be better localized onto desired regions prior to thermoforming. Finally, we join together multiple ribbons to create deployable systems. Our work proposes a framework for creating fully metallic, yet compliant structures that may find application as elements for space structures and compliant robots

Modeling and Programming Shape-Morphing Structured Media

Shape-morphing and self-propelled locomotion are examples of mechanical behaviors that can be "programmed" in structured media by designing geometric features at micro- and mesostructural length scales. This programmability is possible because the small-scale geometry often imposes local kinematic modes that are strongly favored over other deformations. In turn, global behaviors are influenced by local kinematic preferences over the extent of the structured medium and by the kinematic compatibility (or incompatibility) between neighboring regions of the domain. This considerably expands the design space for effective mechanical properties, since objects made of the same bulk material but with different internal geometry will generally display very different behaviors. This motivates pursuing a mechanistic understanding of the connection between small-scale geometry and global kinematic behaviors. This thesis addresses challenges pertaining to the modeling and design of structured media that undergo large deformations. The first part of the thesis focuses on the relation between micro- or mesoscale patterning and energetically favored modes of deformation. This is first discussed within the context of twisted bulk metallic glass ribbons whose edges display periodic undulations. The undulations cause twist concentrations in the narrower regions of the structural element, delaying the onset of material failure and permitting the design of structures whose deployment and compaction emerge from the ribbons' chirality. Following this discussion of a periodic system, we study sheets with non-uniform cut patterns that buckle out-of-plane. Motivated by computational challenges associated with the presence of geometric features at disparate length scales, we construct an effective continuum model for these non-periodic systems, allowing us to simulate their post-buckling behavior efficiently and with good accuracy. The second part of the thesis discusses ways to leverage the connection between micro/mesoscale geometry and energetically favorable local kinematics to create "programmable matter" that undergo prescribed shape changes or self-propelled locomotion when exposed to an environmental stimulus. We first demonstrate the capabilities of an inverse design method that automates the design of structured plates that morph into target 3D geometries over time-dependent actuation paths. Finally, we present devices made of 3D-printed liquid crystal elastomer (LCE) hinges that change shape and self-propel when heated.</p

Programming temporal morphing of self-actuated shells

Advances in shape-morphing materials, such as hydrogels, shape-memory polymers and light-responsive polymers have enabled prescribing self-directed deformations of initially flat geometries. However, most proposed solutions evolve towards a target geometry without considering time-dependent actuation paths. To achieve more complex geometries and avoid self-collisions, it is critical to encode a spatial and temporal shape evolution within the initially flat shell. Recent realizations of time-dependent morphing are limited to the actuation of few, discrete hinges and cannot form doubly curved surfaces. Here, we demonstrate a method for encoding temporal shape evolution in architected shells that assume complex shapes and doubly curved geometries. The shells are non-periodic tessellations of pre-stressed contractile unit cells that soften in water at rates prescribed locally by mesostructure geometry. The ensuing midplane contraction is coupled to the formation of encoded curvatures. We propose an inverse design tool based on a data-driven model for unit cells’ temporal responses

Effective continuum models for the buckling of non-periodic architected sheets that display quasi-mechanism behaviors

In this work, we construct an effective continuum model for architected sheets that are composed of bulky tiles connected by slender elastic joints. Due to their mesostructure, these sheets feature quasi-mechanisms -- low-energy local kinematic modes that are strongly favored over other deformations. In sheets with non-uniform mesostructure, kinematic incompatibilities arise between neighboring regions, causing out-of-plane buckling. The effective continuum model is based on a geometric analysis of the sheets' unit cells and their energetically favorable modes of deformation. Its major feature is the construction of a strain energy that penalizes deviations from these preferred modes of deformation. The effect of non-periodicity is entirely described through the use of spatially varying geometric parameters in the model. Our simulations capture the out-of-plane buckling that occurs in non-periodic specimens and show good agreement with experiments. While we only consider one class of quasi-mechanisms, our modeling approach could be applied to a diverse set of shape-morphing systems that are of interest to the mechanics community

Programming temporal morphing of self-actuated shells

Advances in shape-morphing materials, such as hydrogels, shape-memory polymers and light-responsive polymers have enabled prescribing self-directed deformations of initially flat geometries. However, most proposed solutions evolve towards a target geometry without considering time-dependent actuation paths. To achieve more complex geometries and avoid self-collisions, it is critical to encode a spatial and temporal shape evolution within the initially flat shell. Recent realizations of time-dependent morphing are limited to the actuation of few, discrete hinges and cannot form doubly curved surfaces. Here, we demonstrate a method for encoding temporal shape evolution in architected shells that assume complex shapes and doubly curved geometries. The shells are non-periodic tessellations of pre-stressed contractile unit cells that soften in water at rates prescribed locally by mesostructure geometry. The ensuing midplane contraction is coupled to the formation of encoded curvatures. We propose an inverse design tool based on a data-driven model for unit cells’ temporal responses

Untethered soft robotic matter with passive control of shape morphing and propulsion

There is growing interest in creating untethered soft robotic matter that can repeatedly shape-morph and self-propel in response to external stimuli. Toward this goal, we printed soft robotic matter composed of liquid crystal elastomer (LCE) bilayers with orthogonal director alignment and different nematic-to-isotropic transition temperatures (T_(NI)) to form active hinges that interconnect polymeric tiles. When heated above their respective actuation temperatures, the printed LCE hinges exhibit a large, reversible bending response. Their actuation response is programmed by varying their chemistry and printed architecture. Through an integrated design and additive manufacturing approach, we created passively controlled, untethered soft robotic matter that adopts task-specific configurations on demand, including a self-twisting origami polyhedron that exhibits three stable configurations and a “rollbot” that assembles into a pentagonal prism and self-rolls in programmed responses to thermal stimuli

Untethered soft robotic matter with passive control of shape morphing and propulsion

There is growing interest in creating untethered soft robotic matter that can repeatedly shape-morph and self-propel in response to external stimuli. Toward this goal, we printed soft robotic matter composed of liquid crystal elastomer (LCE) bilayers with orthogonal director alignment and different nematic-to-isotropic transition temperatures (T_(NI)) to form active hinges that interconnect polymeric tiles. When heated above their respective actuation temperatures, the printed LCE hinges exhibit a large, reversible bending response. Their actuation response is programmed by varying their chemistry and printed architecture. Through an integrated design and additive manufacturing approach, we created passively controlled, untethered soft robotic matter that adopts task-specific configurations on demand, including a self-twisting origami polyhedron that exhibits three stable configurations and a “rollbot” that assembles into a pentagonal prism and self-rolls in programmed responses to thermal stimuli

A MICROMECHANICAL-BASED MODEL OF STIMULUS RESPONSIVE LIQUID CRYSTAL ELASTOMERS

Stimulus responsive elastomers are advanced engineered materials that perform desired functionalities when triggered by external stimuli. Liquid crystal elastomers (LCEs) are one important example that exhibit reversible actuation when cycled above and below their nematic-to-isotropic transition temperature. Here, we propose a micromechanical-based model that is centered on the evolution of the chain distribution tensor of the LCE network. Our model, framed within the statistical model of the chain network, enables a mesoscale description of their mechanical response under an external thermal stimulus. We compare the model to prior experimental observations of the bending response of 3D printed LCE elements with controlled director alignment

Shape-morphing architected sheets with non-periodic cut patterns

International audienceWe investigate the out-of-plane shape morphing capability of single-material elastic sheets with architected cut patterns that result in arrays of tiles connected by flexible hinges. We demonstrate that a non-periodic cut pattern can cause a sheet to buckle into three-dimensional shapes, such as domes or patterns of wrinkles, when pulled at specific boundary points. These global buckling modes are observed in experiments and rationalized by an in-plane kinematic analysis that highlights the role of the geometric frustration arising from non-periodicity. The study focuses on elastic sheets, and is later extended to elastic-plastic materials to achieve shape retention. Our work illustrates a scalable route towards the fabrication of three-dimensional objects with nonzero Gaussian curvature from initially-flat sheets