We propose an algorithmic framework of a pluripotent structure evolving from a simple compact structure into diverse complex 3-D structures for designing the shape transformable, reconfigurable, and deployable structures and robots. Our algorithmic approach suggests a way of transforming a compact structure consisting of uniform building blocks into a large, desired 3-D shape. Analogous to the pluripotent stem cells that can grow into a preprogrammed shape according to coded information, which we call DNA, compactly stacked panels named the zygote structure can evolve into arbitrary 3-D structures by programming their connection path. Our stacking algorithm obtains this coded sequence by inversely stacking the voxelized surface of the desired structure into a tree. Applying the connection path obtained by the stacking algorithm, the compactly stacked panels named the zygote structure can be deployed into diverse large 3-D structures. We conceptually demonstrated our pluripotent evolving structure by energy releasing commercial spring hinges and thermally actuated shape memory alloy (SMA) hinges, respectively. We also show that the proposed concept enables the fabrication of large structures in a significantly smaller workspace.
翻译:我们提出一个多功能结构的算法框架,它从简单的紧凑结构演变为不同的复杂三维结构,用于设计形状变形、可重新配置和可部署的结构和机器人。我们的算法方法建议一种方法,将一个由统一的建筑块组成的紧凑结构转换成一个大、理想的三维形状。对于能够根据编码信息发展成预编形状的多功能干细胞,我们称之为DNA的多功能干细胞,紧凑的堆叠板名为zygote结构,可以通过编程它们的连接路径而演变成任意的三维结构。我们的堆叠算法通过将理想结构的蒸气表面反向堆叠成一棵树来获得这个编码序列。运用堆叠算法获得的连接路径,称为zygote结构的紧凑板可以被部署到不同的大型三维结构中。我们从概念上展示了我们的多功能结构,通过释放能量的商业弹簧链和热作用生成的形状内存合物(SMA)分别是小得多的。我们还展示了拟议的概念能够使大型结构得以制造。