多物理
执行机构
液态金属
洛伦兹力
体素
材料科学
硅橡胶
机械工程
声学
变形(气象学)
导电体
软机器人
计算机科学
磁场
工程类
人工智能
有限元法
物理
结构工程
复合材料
量子力学
作者
Piotr Bartkowski,Łukasz Pawliszak,Siddhi G. Chevale,Paweł Pełka,Yong‐Lae Park
出处
期刊:Soft robotics
[Mary Ann Liebert]
日期:2024-04-10
标识
DOI:10.1089/soro.2023.0144
摘要
Constant development of soft robots, stretchable electronics, or flexible medical devices forces the research to look for new flexible structures that can change their shapes under external physical stimuli. This study presents a soft robotic structure that can change its shape into different three-dimensional (3D) configurations in response to electric current flown through the embedded liquid-metal conductors enabling electromagnetic actuation. The proposed structure is composed of volumetric pixels (voxels) connected in series where each can be independently controlled by the inputs of electrical current and vacuum pressure. A single voxel is made up of a granular core (GC) with an outer shell made of silicone rubber. The shell has embedded channels filled with liquid metal. The structure changes its shape under the Lorentz force produced by the liquid metal channel under applied electrical current. The GC allows the structure to maintain its shape after deformation even when the current is shut off. This is possible due to the granular jamming effect. In this study, we show the concept, the results of multiphysics simulation, and experimental characterization, including among other techniques, such as 3D digital image correlation or 3D magnetic field scanning, to study the different properties of the structure. We prove that the proposed structure can morph into many different shapes with the amplitude higher than 10 mm, and this process can be both fully reversible and repeatable.
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