Design of Deployable Soft Robots Through Plastic Deformation of Kirigami Structures

Note: We don't have the ability to review paper

Title: Design of Deployable Soft Robots Through Plastic Deformation of Kirigami Structures

Teams: Facebook

Writers: Audrey Sedal, Amirhossein H. Memar, Tianshu Liu, Yigit Mengüç, Nick Corson

Publication date: February 3, 2020

Abstract

Kirigami-patterned mechanisms are an emergent class of deployable structure that are easy to fabricate and offer the potential to be integrated into deployable robots. In this letter, we propose a design methodology for robotic kirigami structures that takes into consideration the deformation, loading, and stiffness of the structure under typical use cases. We show how loading-deformation behavior of a kirigami structure can be mechanically programmed by imposing plastic deformation. We develop a model for plasticity in the stretching of a kirigami structure. We show the creation of kirigami structures that have an increased elastic region, and specified stiffness, in their deployed states. We demonstrate the benefits of such a plastically-deformed structure by integrating it into a soft deployable crawling robot: the kirigami structure matches the stiffness of the soft actuator such that the deployed, coupled behavior serves to mechanically program the gait step size.

Design of Deployable Soft Robots Through Plastic Deformation of Kirigami Structures

您可能还喜欢...

Paper