Structural instability is a hazard that leads to catastrophic failure and is generally avoided through special designs. A trend, however, has emerged over the past decades pointing to the harnessing of mechanisms with instability. Inspired by the snapping of a hair clip, we are finessing the unique characteristics of the lateral-torsional buckling of beams and the snap-through of pre-buckled dome-like thin-wall structures in a new field: the in-plane prestressed mechanism. Analyses reveal how the 2D-3D assembly of an in-plane prestressed actuator (IPA) is achieved and how the post-buckling energy landscape is pictured. Combining them with soft robotics, we show that the inclusion of a bistable IPA can enormously enhance the performance of an underwater fish robot as well as inspire a finger-like soft gripper.
翻译:结构性不稳定是导致灾难性失败的危险,通常通过特殊设计加以避免。然而,过去几十年中出现了一种趋势,表明正在以不稳定的方式利用各种机制。在发夹的启发下,我们正在对横向悬浮光束的独特性进行精细分析,并在一个新的领域,即机舱预压机制(机舱预压装置)中快速穿透像圆顶一样的细墙结构。分析揭示了如何实现2D-3D的机舱压式动画(IPA)组装,以及如何勾画出售后能源景象。把它们与软机器人结合起来,我们表明,列入一个可折叠的IPA可以极大地提高水下鱼机器人的性能,并激发一个像手指一样柔软的握手器。