Adaptive Hierarchical Origami Metastructures
CoRR(2023)
摘要
Shape-morphing capabilities are crucial for enabling multifunctionality in
both biological and artificial systems. Various strategies for shape morphing
have been proposed for applications in metamaterials and robotics. However, few
of these approaches have achieved the ability to seamlessly transform into a
multitude of volumetric shapes post-fabrication using a relatively simple
actuation and control mechanism. Taking inspiration from thick origami and
hierarchies in nature, we present a new hierarchical construction method based
on polyhedrons to create an extensive library of compact origami
metastructures. We show that a single hierarchical origami structure can
autonomously adapt to over 103 versatile architectural configurations, achieved
with the utilization of fewer than 3 actuation degrees of freedom and employing
simple transition kinematics. We uncover the fundamental principles governing
theses shape transformation through theoretical models. Furthermore, we also
demonstrate the wide-ranging potential applications of these transformable
hierarchical structures. These include their uses as untethered and autonomous
robotic transformers capable of various gait-shifting and multidirectional
locomotion, as well as rapidly self-deployable and self-reconfigurable
architecture, exemplifying its scalability up to the meter scale. Lastly, we
introduce the concept of multitask reconfigurable and deployable space robots
and habitats, showcasing the adaptability and versatility of these
metastructures.
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