RESUMO
From stadium covers to solar sails, we rely on deployability for the design of large-scale structures that can quickly compress to a fraction of their size1-4. Historically, two main strategies have been used to design deployable systems. The first and most frequently used approach involves mechanisms comprising interconnected bar elements, which can synchronously expand and retract5-7, occasionally locking in place through bistable elements8,9. The second strategy makes use of inflatable membranes that morph into target shapes by means of a single pressure input10-12. Neither strategy, however, can be readily used to provide an enclosed domain that is able to lock in place after deployment: the integration of a protective covering in linkage-based constructions is challenging and pneumatic systems require a constant applied pressure to keep their expanded shape13-15. Here we draw inspiration from origami-the Japanese art of paper folding-to design rigid-walled deployable structures that are multistable and inflatable. Guided by geometric analyses and experiments, we create a library of bistable origami shapes that can be deployed through a single fluidic pressure input. We then combine these units to build functional structures at the metre scale, such as arches and emergency shelters, providing a direct route for building large-scale inflatable systems that lock in place after deployment and offer a robust enclosure through their stiff faces.
RESUMO
Fluidic soft actuators are enlarging the robotics toolbox by providing flexible elements that can display highly complex deformations. Although these actuators are adaptable and inherently safe, their actuation speed is typically slow because the influx of fluid is limited by viscous forces. To overcome this limitation and realize soft actuators capable of rapid movements, we focused on spherical caps that exhibit isochoric snapping when pressurized under volume-controlled conditions. First, we noted that this snap-through instability leads to both a sudden release of energy and a fast cap displacement. Inspired by these findings, we investigated the response of actuators that comprise such spherical caps as building blocks and observed the same isochoric snapping mechanism upon inflation. Last, we demonstrated that this instability can be exploited to make these actuators jump even when inflated at a slow rate. Our study provides the foundation for the design of an emerging class of fluidic soft devices that can convert a slow input signal into a fast output deformation.
RESUMO
The accuracy of Additive Manufacturing processes in fabricating porous biomaterials is currently limited by their capacity to render pore morphology that precisely matches its design. In a porous biomaterial, a geometric mismatch can result in pore occlusion and strut thinning, drawbacks that can inherently compromise bone ingrowth and severely impact mechanical performance. This paper focuses on Selective Laser Melting of porous microarchitecture and proposes a compensation scheme that reduces the morphology mismatch between as-designed and as-manufactured geometry, in particular that of the pore. A spider web analog is introduced, built out of Ti-6Al-4V powder via SLM, and morphologically characterized. Results from error analysis of strut thickness are used to generate thickness compensation relations expressed as a function of the angle each strut formed with the build plane. The scheme is applied to fabricate a set of three-dimensional porous biomaterials, which are morphologically and mechanically characterized via micro Computed Tomography, mechanically tested and numerically analyzed. For strut thickness, the results show the largest mismatch (60% from the design) occurring for horizontal members, reduces to 3.1% upon application of the compensation. Similar improvement is observed also for the mechanical properties, a factor that further corroborates the merit of the design-oriented scheme here introduced.