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3D-Architected Soft Machines with Topologically Encoded Motion

机译：具有拓扑编码运动的3D架构软机

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摘要

The limited range of mechanical responses achievable by materials compatible with additive manufacturing hinders the 3D printing of continuum soft robots with programmed motion. This paper describes the rapid design and fabrication of low-density, 3D-architected soft machines (ASMs) by combining Voronoi tessellation and additive manufacturing. On tendon-based actuation, ASMs deform according to the topologically encoded buckling of their structure to produce a wide range of motions (contraction, twisting, bending, and cyclic motion). ASMs exhibiting densities as low as 0.094 g cm(-3) (approximate to 8% of bulk polymer) can be rapidly built by the stereolithographic 3D printing of flexible photopolymers or the injection molding of elastomers. The buckling of ASMs can be programmed by inducing gradients in the thickness of their flexible beams or by the localized enlargement of the Voronoi cells to generate complex motions such as multi-finger gripping or quadrupedal locomotion. The topological architecture of these low-density soft robots confers them with the stiffness necessary to recover their original shape even after ultrahigh compression (400%) and extension (500%). ASMs expand the range of mechanical properties currently achievable by 3D printed or molded materials to enable the fabrication of soft machines with auxetic mechanical metamaterial properties.
机译：与增材制造兼容的材料所能达到的有限的机械响应范围，阻碍了具有编程运动的连续式软机器人的3D打印。本文介绍了结合Voronoi细分和增材制造技术来快速设计和制造低密度3D架构软机（ASM）。在基于肌腱的致动中，ASM根据其结构的拓扑编码屈曲变形，以产生各种运动（收缩，扭曲，弯曲和循环运动）。可以通过柔性光敏聚合物的立体平版印刷3D打印或弹性体的注射成型，迅速构建出密度低至0.094 g cm（-3）（约占本体聚合物的8％）的ASM。 ASM的屈曲可以通过在其柔性梁的厚度中引入梯度或通过Voronoi细胞的局部增大来编程，以生成复杂的运动（例如，多指抓握或四足运动）来进行编程。这些低密度软机器人的拓扑结构赋予它们即使在超高压缩（400％）和伸展（500％）之后仍能恢复其原始形状所需的刚度。 ASM扩大了3D打印或模制材料目前可实现的机械性能范围，从而能够制造具有拉延型机械超材料性能的软机。

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