Ntse textiles siv kua-tsav cov leeg nqaij fibers

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Qhia ib lub carousel ntawm peb slides ib zaug.Siv cov nyees khawm dhau los thiab Tom ntej kom txav mus los ntawm peb qhov swb ib zaug, lossis siv cov khawm slider thaum kawg kom txav mus los ntawm peb qhov swb ib zaug.
Kev sib koom ua ke ntawm textiles thiab cov leeg dag los tsim cov ntaub ntawv ntse yog qhov nyiam ntau ntawm ob qho tib si kev tshawb fawb thiab kev lag luam hauv zej zog.Smart textiles muaj ntau yam txiaj ntsig, suav nrog kev hloov pauv yooj yim thiab qib siab ntawm kev ua raws li cov khoom siv thaum muab kev ua kom muaj zog rau qhov xav tau txav thiab lub zog.Tsab ntawv xov xwm no nthuav tawm cov chav kawm tshiab ntawm programmable ntse fabrics ua siv ntau txoj hauv kev ntawm kev xaws, xaws thiab gluing kua-tsav cov leeg nqaij fibers.Tus qauv lej tau tsim los piav qhia txog qhov sib piv ntawm lub zog elongation ntawm knitted thiab woven textile nplooj ntawv, thiab tom qab ntawd nws txoj kev siv tau raug sim sim.Tus tshiab "ntse" textile nta siab yooj, conformality, thiab mechanical programming, enables multi-modal zog thiab deformation peev xwm rau ntau yam kev siv.Ntau yam khoom siv hluav taws xob ntse tau tsim los ntawm kev sim tshuaj xyuas, suav nrog ntau yam kev hloov pauv xws li elongation (txog 65%), thaj tsam nthuav dav (108%), radial expansion (25%), thiab khoov zog.Lub tswv yim ntawm reconfiguration ntawm passive ib txwm cov ntaub so ntswg mus rau hauv active qauv rau biomimetic shaping lug kuj raug tshawb nrhiav.Cov ntawv xov xwm ntse tau npaj siab yuav pab txhawb kev txhim kho cov khoom siv ntse, cov tshuab haptic, biomimetic mos robots, thiab cov khoom siv hluav taws xob hnav.
Rigid robots muaj txiaj ntsig zoo thaum ua haujlwm hauv ib puag ncig, tab sis muaj teeb meem nrog cov ntsiab lus tsis paub txog kev hloov ib puag ncig, uas txwv tsis pub lawv siv hauv kev tshawb nrhiav lossis kev tshawb nrhiav.Xwm tseem ua rau peb xav tsis thoob nrog ntau lub tswv yim tsim los daws cov teeb meem sab nraud thiab ntau haiv neeg.Piv txwv li, lub tendrils ntawm nce toj nroj tsuag ua multimodal txav, xws li khoov thiab spiraling, los tshawb txog ib qho chaw tsis paub nyob rau hauv kev tshawb fawb ntawm ib tug haum kev txhawb nqa1.Venus flytrap (Dionaea muscipula) muaj cov plaub hau rhiab rau nws cov nplooj uas, thaum tshwm sim, snap rau hauv qhov chaw kom ntes tau tsiaj.Nyob rau hauv xyoo tas los no, lub deformation los yog deformation ntawm lub cev los ntawm ob-dimensional (2D) nto mus rau peb-dimensional (3D) cov duab uas mimic lom qauv tau los ua ib tug nthuav kev tshawb fawb topic3,4.Cov kev teeb tsa neeg hlau mos no hloov cov duab kom hloov mus rau qhov chaw hloov pauv, ua kom muaj kev sib koom ua ke, thiab siv zog los ua haujlwm ua haujlwm.Lawv ncav cuag tau txuas mus rau ntau yam kev siv neeg hlau, suav nrog kev xa tawm 5, rov tsim kho thiab rov ua tus kheej folding robots6,7, biomedical devices8, tsheb 9,10 thiab nthuav dav electronics11.
Ntau qhov kev tshawb fawb tau ua tiav los tsim cov phiaj xwm tiaj tiaj uas, thaum qhib, hloov mus rau hauv cov qauv peb sab 3.Ib lub tswv yim yooj yim rau kev tsim cov qauv deformable yog muab cov txheej txheem sib txawv ntawm cov ntaub ntawv sib txawv uas ua rau thiab tawv nqaij thaum raug stimuli12,13.Janbaz et al.14 Li et al.15 tau siv lub tswv yim no los tsim kom muaj cua sov-sensitive multimodal deformable robots.Origami-raws li cov qauv sib xyaw ua ke cov ntsiab lus teb tau siv los tsim cov qauv peb sab 16,17,18.Kev tshoov siab los ntawm morphogenesis ntawm cov qauv lom neeg, Emmanuel li al.Cov duab-deformable elastomers yog tsim los ntawm kev teeb tsa huab cua hauv cov roj hmab saum npoo uas, nyob rau hauv siab, hloov mus rau hauv complex, arbitrary peb-dimensional duab.
Kev koom ua ke ntawm textiles lossis fabrics rau hauv deformable mos robots yog lwm lub tswv yim tshiab uas tau ua rau muaj kev txaus siab ntau.Textiles yog cov ntaub ntawv mos thiab elastic ua los ntawm cov xov paj los ntawm cov txheej txheem xws li knitting, weaving, braiding, los yog knot weaving.Cov khoom zoo nkauj ntawm cov ntaub, suav nrog kev yoog raws, haum, elasticity thiab breathability, ua rau lawv nrov heev hauv txhua yam ntawm khaub ncaws mus rau kev siv kho mob20.Muaj peb txoj hauv kev dav rau kev sib koom ua ke textiles rau hauv robotics21.Thawj txoj hauv kev yog siv cov khoom siv textile ua ib qho kev thim rov qab lossis lub hauv paus rau lwm yam khoom.Nyob rau hauv cov ntaub ntawv no, passive textiles muab ib tug xis haum rau cov neeg siv thaum nqa cov khoom nruj (lub cev muaj zog, sensors, fais fab mov).Feem ntau cov mos hnav cov neeg hlau lossis cov exoskeletons muag poob rau hauv txoj hauv kev no.Piv txwv li, soft wearable exoskeletons rau kev pab taug kev 22 thiab lub luj tshib 23, 24, 25, hnab looj tes mos mos 26 rau tes thiab ntiv tes pab, thiab bionic mos robots 27.
Qhov thib ob txoj hauv kev yog siv textiles ua passive thiab txwv cov khoom ntawm cov khoom siv neeg hlau mos.Textile raws li actuators poob rau hauv pawg no, qhov twg cov ntaub feem ntau yog tsim los ua ib lub thawv sab nrauv kom muaj cov hose sab hauv los yog chamber, tsim cov fiber ntau reinforced actuator.Thaum raug rau sab nraud pneumatic lossis hydraulic qhov chaw, cov actuators no tau hloov pauv hauv cov duab, suav nrog elongation, dabtsi yog khoov lossis twisting, nyob ntawm seb lawv cov khoom qub thiab kev teeb tsa.Piv txwv li, Talman et al.Orthopedic pob luj taws khaub ncaws, muaj ib tug series ntawm cov hnab tshos ntaub, tau raug qhia los pab txhawb plantar flexion los kho gait28.Cov khaubncaws sab nraud povtseg nrog qhov sib txawv ntawm qhov sib txawv tuaj yeem ua ke los tsim anisotropic txav 29 .OmniSkins - cov tawv nqaij mos robotic ua los ntawm ntau yam mos actuators thiab substrate cov ntaub ntawv tuaj yeem hloov cov khoom tsis zoo rau hauv cov neeg ua haujlwm ntau yam uas tuaj yeem ua tau ntau hom kev txav thiab deformations rau ntau yam kev siv.Zhu et al.tau tsim cov ntaub so ntswg cov leeg nqaij daim ntawv 31 uas tuaj yeem tsim elongation, khoov, thiab ntau yam deformation motions.Buckner et al.Kev sib xyaw ua haujlwm fibers rau hauv cov ntaub so ntswg los tsim cov ntaub so ntswg neeg hlau nrog ntau yam haujlwm xws li kev ua haujlwm, kev hnov ​​​​lus, thiab qhov sib txawv ntawm qhov tawv nqaij32.Lwm txoj hauv kev hauv pawg no tuaj yeem pom hauv cov ntawv no 21, 33, 34, 35.
Ib txoj hauv kev tsis ntev los no rau kev siv cov khoom zoo tshaj plaws ntawm textiles hauv thaj tsam ntawm cov neeg hlau mos yog siv cov khoom siv hluav taws xob los yog kev txhawb zog los tsim cov ntaub ntawv ntse siv cov txheej txheem tsim textile xws li xaws, knitting thiab weaving txoj kev21,36,37.Nyob ntawm cov khoom muaj pes tsawg leeg, cov xov paj reactive ua rau muaj kev hloov pauv ntawm cov duab thaum raug hluav taws xob, thermal lossis siab ua haujlwm, uas ua rau deformation ntawm cov ntaub.Nyob rau hauv txoj kev no, qhov twg cov tsoos textiles tau koom ua ke rau hauv cov neeg hlau mos, kev hloov kho ntawm cov ntaub ntawv tshwm sim ntawm txheej sab hauv (xov paj) es tsis yog txheej txheej.Yog li ntawd, cov ntaub ntawv ntse muaj kev tuav zoo heev ntawm kev txav mus los ntawm ntau yam, programmable deformation, stretchability, thiab muaj peev xwm kho qhov tawv nqaij.Piv txwv li, cov duab nco alloys (SMAs) thiab cov duab nco polymers (SMPs) tuaj yeem muab tso rau hauv cov ntaub los tswj lawv cov duab los ntawm thermal stimulation, xws li hemming38, wrinkle tshem tawm 36,39, tactile thiab tactile tawm tswv yim40,41, nrog rau kev yoog raws. hnav khaub ncaws.khoom siv 42.Txawm li cas los xij, kev siv lub zog thermal rau cua sov thiab cua txias ua rau cov lus teb qeeb thiab ua kom txias thiab tswj tau yooj yim.Tsis ntev los no, Hiramitsu et al.McKibben cov nqaij ntshiv zoo 43,44, pneumatic cov nqaij ntshiv, yog siv los ua warp yarns los tsim ntau yam ntaub ntawv ntawm active textiles los ntawm kev hloov lub weave structure45.Txawm hais tias txoj hauv kev no muab lub zog siab, vim yog cov leeg ntawm McKibben, nws qhov kev nthuav dav yog txwv (< 50%) thiab qhov me me tsis tuaj yeem ua tiav (inch <0.9 mm).Tsis tas li ntawd, nws tau nyuaj rau tsim cov qauv ntawm cov ntaub ntawv ntse los ntawm cov txheej txheem uas yuav tsum tau muaj cov fab ntse.Txhawm rau tsim ntau yam ntawm cov ntaub ntawv ntse, Maziz li al.Electroactive wearable textiles tau tsim los ntawm knitting thiab weaving electrosensitive polymer threads46.
Nyob rau hauv xyoo tas los no, ib hom tshiab ntawm thermosensitive cov leeg dag tau tshwm sim, tsim los ntawm cov twisted, pheej yig polymer fibers47,48.Cov fibers no muaj muag thiab tau yooj yim muab tso rau hauv kev xaws lossis xaws los tsim cov khaub ncaws ntse.Txawm hais tias muaj kev nce qib, cov ntaub ntawv xov xwm kub-rhiab tshiab no muaj lub sijhawm teb tsis txaus vim qhov xav tau cua sov thiab txias (xws li cov ntaub ntawv ntsuas kub) lossis qhov nyuaj ntawm kev ua cov knitted thiab woven qauv uas yuav tsum tau programmed los tsim cov kev xav tau deformations thiab txav. .Piv txwv xws li radial expansion, 2D mus rau 3D shape transformation, los yog bi-directional expansion, uas peb muab ntawm no.
Txhawm rau kov yeej cov teeb meem uas tau hais tseg saum toj no, tsab xov xwm no nthuav tawm cov ntaub ntawv tshiab uas tau siv los ntawm cov ntaub ntawv ntse uas ua los ntawm peb nyuam qhuav qhia txog cov leeg nqaij mos (AMF) 49,50,51.AMFs hloov tau yooj yim, scalable thiab tuaj yeem txo mus rau ib txoj kab uas hla ntawm 0.8 hli thiab ntev ntev (tsawg kawg 5000 hli), muab qhov sib piv siab (ntev mus rau txoj kab uas hla) nrog rau siab elongation (tsawg kawg 245%), siab zog efficiency, tsawg dua 20Hz teb ceev).Txhawm rau tsim cov ntaub ntawv ntse, peb siv AMF ua cov xov paj nquag los tsim 2D cov leeg nqaij txheej los ntawm cov txheej txheem knitting thiab weaving.Peb tau kawm ntau qhov kev nthuav dav thiab kev quab yuam ntawm cov "ntse" cov ntaub so ntswg ntawm cov kua ntim thiab lub siab xa tawm.Cov qauv kev ntsuas tau tsim los tsim kom muaj kev sib raug zoo ntawm elongation quab yuam rau knitted thiab woven nplooj ntawv.Peb kuj piav qhia txog ntau yam kev siv tshuab ua haujlwm rau cov ntawv xov xwm ntse rau kev txav mus los ntau yam, suav nrog kev txuas ntxiv ob sab, khoov, radial nthuav dav, thiab muaj peev xwm hloov pauv ntawm 2D mus rau 3D.Txhawm rau ua kom pom lub zog ntawm peb txoj hauv kev, peb tseem yuav koom ua ke AMF rau hauv kev lag luam fabrics lossis textiles los hloov lawv cov kev teeb tsa los ntawm passive mus rau cov qauv uas ua rau muaj ntau yam deformations.Peb kuj tau ua kom pom lub tswv yim no ntawm ntau qhov kev sim cov rooj zaum, suav nrog cov txheej txheem khoov ntawm cov xov los tsim cov ntawv xav tau thiab cov qauv hloov pauv lom neeg rau hauv cov khoom xws li npauj npaim, cov qauv plaub hau thiab paj.
Textiles yog hloov tau ob-dimensional qauv tsim los ntawm interwoven ib-dimensional threads xws li yarns, threads thiab fibers.Textile yog ib qho ntawm tib neeg cov thev naus laus zis tshaj plaws thiab tau siv dav hauv txhua yam ntawm lub neej vim nws txoj kev nplij siab, yoog raws, ua pa, ua kom zoo nkauj thiab tiv thaiv.Cov ntaub ntawv ntse (tseem hu ua cov khaub ncaws ntse lossis cov ntaub neeg hlau) tau siv ntau dua hauv kev tshawb fawb vim lawv lub peev xwm loj hauv kev siv neeg hlau20,52.Smart textiles cog lus los txhim kho tib neeg kev paub ntawm kev sib cuam tshuam nrog cov khoom muag, ua kom muaj kev hloov pauv hauv qhov chaw uas lub zog thiab lub zog ntawm cov ntaub nyias nyias tuaj yeem tswj tau los ua cov haujlwm tshwj xeeb.Hauv daim ntawv no, peb tshawb nrhiav ob txoj hauv kev rau kev tsim cov khoom siv ntse ntse raws li peb cov AMF49 tsis ntev los no: (1) siv AMF ua cov xov paj zoo los tsim cov ntaub ntawv ntse siv cov tshuab tsim textile tsoos;(2) ntxig AMF ncaj qha rau hauv cov ntaub ib txwm siv los txhawb qhov xav tau txav thiab deformation.
AMF muaj ib lub raj silicone sab hauv los muab lub zog hydraulic thiab sab nraud helical kauj kom txwv nws cov radial expansion.Yog li, AMFs elongate longitudinally thaum lub siab siv thiab tom qab ntawd nthuav tawm cov contractile rog kom rov qab mus rau lawv qhov qub ntev thaum lub siab tso tawm.Lawv muaj cov khoom zoo ib yam li cov tsoos fibers, nrog rau kev yoog raws, txoj kab uas hla me me thiab ntev ntev.Txawm li cas los xij, AMF muaj zog dua thiab tswj tau ntawm kev txav mus los thiab lub zog ntau dua li nws cov kev sib koom ua ke.Kev tshoov siab los ntawm kev nce qib sai sai hauv cov ntaub ntawv ntse, ntawm no peb nthuav tawm plaub txoj hauv kev loj los tsim cov khoom siv ntse los ntawm kev thov AMF rau kev tsim cov ntaub siv ntev ntev (Daim duab 1).
Thawj txoj kev yog weaving.Peb siv weft knitting tshuab los tsim ib reactive knitted ntaub uas nthuav tawm nyob rau hauv ib qho kev taw qhia thaum hydraulically actuated.Knitted nplooj ntawv yog stretchy thiab stretchable tab sis zoo li unravel yooj yim dua li cov ntaub ntawv woven.Nyob ntawm txoj kev tswj hwm, AMF tuaj yeem tsim cov kab ib leeg lossis ua tiav cov khoom.Ntxiv nrog rau cov ntawv tiaj tus, cov qauv tubular knitting kuj tsim nyog rau kev tsim cov qauv AMF hollow.Qhov thib ob txoj kev yog weaving, qhov twg peb siv ob AMFs ua warp thiab weft los tsim ib daim duab plaub uas tuaj yeem nthuav tawm ntawm nws tus kheej hauv ob qho kev qhia.Cov nplooj ntawv Woven muab kev tswj hwm ntau dua (hauv ob qho kev qhia) dua li cov ntaub ntawv knitted.Peb kuj wove AMF los ntawm ib txwm yarn los ua ib daim ntawv yooj yim woven uas tsuas yog yuav unwound nyob rau hauv ib txoj kev.Qhov thib peb txoj kev - radial expansion - yog ib qho txawv ntawm cov txheej txheem weaving, uas cov AMPs nyob tsis nyob rau hauv ib lub duab plaub, tab sis nyob rau hauv ib tug kauv, thiab cov xov muab radial txwv.Nyob rau hauv cov ntaub ntawv no, lub braid expands radially nyob rau hauv lub inlet siab.Ib txoj hauv kev thib plaub yog los lo rau AMF mus rau ib daim ntawv ntawm cov ntaub ntawv passive los tsim cov lus tsa suab hauv qhov xav tau.Peb tau teeb tsa lub rooj tsav xwm passive breakout rau hauv lub rooj sib tham nquag los ntawm kev khiav AMF nyob ib ncig ntawm nws ntug.Qhov programmable xwm txheej ntawm AMF qhib tau suav tsis txheeb rau bio-inspired shape-transforming soft structures where we can turn passive objects into active ones.Txoj kev no yog qhov yooj yim, yooj yim, thiab nrawm, tab sis tuaj yeem cuam tshuam qhov kev ua haujlwm ntev ntawm tus qauv.Tus nyeem ntawv raug xa mus rau lwm txoj hauv kev hauv cov ntaub ntawv uas qhia txog qhov muaj zog thiab qhov tsis muaj zog ntawm txhua cov ntaub so ntswg 21,33,34,35.
Feem ntau cov xov los yog yarns siv los ua cov tsoos fabrics muaj cov qauv passive.Hauv kev ua haujlwm no, peb siv peb cov AMF uas tau tsim yav dhau los, uas tuaj yeem ncav cuag qhov ntev ntawm qhov ntev thiab cov kab nruab nrab submillimeter, los hloov cov xov paj passive textile nrog AFM los tsim cov khoom ntse thiab nquag siv rau ntau yam kev siv.Cov tshooj hauv qab no piav qhia txog cov txheej txheem ntxaws ntxaws los ua cov qauv textile ntse thiab nthuav qhia lawv cov haujlwm tseem ceeb thiab kev coj cwj pwm.
Peb xuas tes ua peb lub tsho AMF siv cov txheej txheem knitting (Fig. 2A).Kev xaiv cov khoom siv thiab cov ncauj lus ntxaws ntxaws rau AMFs thiab cov qauv qauv tuaj yeem pom nyob rau hauv Tshooj Txheej Txheem.Txhua AMF ua raws txoj kev winding (tseem hu ua txoj hauv kev) uas ua rau lub voj sib luag.Cov loops ntawm txhua kab yog tsau nrog loops ntawm kab saum toj thiab hauv qab lawv.Cov rings ntawm ib kem perpendicular mus rau chav kawm yog muab tso rau hauv ib tug ncej.Peb knitted qauv muaj peb kab ntawm xya stitches (los yog xya stitches) nyob rau hauv txhua kab.Sab saum toj thiab hauv qab rings tsis ruaj, yog li peb tuaj yeem muab lawv rau cov khoom siv hlau sib txuas.Knitted prototypes unraveled yooj yim dua li cov pa knitted fabrics vim lub siab tawv ntawm AMF piv rau cov pa yarns.Yog li ntawd, peb khi cov loops ntawm cov kab uas nyob ib sab nrog nyias elastic cords.
Ntau yam txuj ci textile prototypes tau raug coj los siv nrog AMF kev teeb tsa sib txawv.(A) Knitted ntawv ua los ntawm peb AMFs.(B) Bidirectional woven daim ntawv ntawm ob AMFs.(C) Ib daim ntawv unidirectional woven los ntawm AMF thiab acrylic yarn tuaj yeem nqa tau qhov hnyav ntawm 500g, uas yog 192 npaug ntawm nws qhov hnyav (2.6g).(D) Radially expanding qauv nrog ib tug AMF thiab paj rwb xov raws li radial txwv.Cov lus qhia ntxaws ntxaws tuaj yeem pom nyob rau hauv Tshooj Txheej Txheem.
Txawm hais tias lub zigzag loops ntawm knit tuaj yeem ncav cuag ntau qhov sib txawv, peb cov qauv knit nthuav dav feem ntau nyob rau hauv cov kev taw qhia ntawm lub voj nyob rau hauv siab vim muaj kev txwv nyob rau hauv cov kev taw qhia ntawm kev mus los.Qhov ntev ntawm txhua AMF pab txhawb rau kev nthuav dav ntawm tag nrho cheeb tsam ntawm daim ntawv knitted.Raws li cov kev xav tau tshwj xeeb, peb tuaj yeem tswj peb AMFs ntawm nws tus kheej los ntawm peb qhov sib txawv ntawm cov kua dej (Daim duab 2A) lossis ib txhij los ntawm ib qho dej los ntawm 1-rau-3 tus neeg xa dej.Ntawm daim duab.2A qhia ib qho piv txwv ntawm tus qauv knitted, qhov chaw pib ntawm qhov uas tau nce 35% thaum siv lub zog rau peb AMPs (1.2 MPa).Qhov tseem ceeb, AMF ua tiav qhov siab elongation tsawg kawg yog 250% ntawm nws qhov qub ntev 49 yog li cov ntaub ntawv knitted tuaj yeem ncav cuag ntau dua li cov qauv tam sim no.
Peb kuj tau tsim cov nplooj ntawv bidirectional weave tsim los ntawm ob lub AMFs siv cov txheej txheem weave (Daim duab 2B).AMF warp thiab weft yog intertwined ntawm txoj cai kaum, tsim ib qho yooj yim criss-cross qauv.Peb cov qauv kev sib tw tau muab cais ua qhov sib npaug sib npaug vim tias ob qho tib si warp thiab weft yarns tau tsim los ntawm tib lub xov paj loj (saib Cov Txheej Txheem rau cov ntsiab lus).Tsis zoo li cov xov zoo tib yam uas tuaj yeem tsim cov folds ntse, daim ntawv thov AMF yuav tsum muaj qee qhov kev khoov lub vojvoog thaum rov qab mus rau lwm cov xov ntawm cov qauv weaving.Yog li ntawd, cov ntaub ntawv uas tau ua los ntawm AMP muaj qhov ntom ntom dua piv rau cov khoom siv niaj hnub.AMF-type S (sab nraud txoj kab uas hla 1.49 hli) muaj qhov tsawg kawg nkaus khoov vojvoog ntawm 1.5 hli.Piv txwv li, tus qauv weave peb nthuav tawm nyob rau hauv tsab xov xwm no muaj 7 × 7 xov qauv uas txhua qhov kev sib tshuam yog ruaj khov nrog ib pob ntawm cov hlua nyias nyias.Siv tib txoj kev weaving, koj tuaj yeem tau txais ntau strands.
Thaum cov AMF sib raug tau txais cov dej siab, daim ntawv woven nthuav nws thaj chaw nyob rau hauv warp lossis weft kev taw qhia.Yog li ntawd, peb tswj qhov ntev ntawm daim ntawv braided (ntev thiab dav) los ntawm nws tus kheej hloov tus nqi ntawm inlet siab siv rau ob AMPs.Ntawm daim duab.2B qhia txog tus qauv woven uas nthuav mus rau 44% ntawm nws qhov chaw qub thaum siv lub zog rau ib qho AMP (1.3 MPa).Nrog rau kev ua haujlwm ib txhij ntawm lub siab ntawm ob lub AMFs, thaj tsam tau nce 108%.
Peb kuj tau ua ib daim ntawv unidirectional woven los ntawm ib qho AMF nrog warp thiab acrylic yarns li weft (Daim duab 2C).Cov AMFs tau teem rau hauv xya zigzag kab thiab cov xov weave cov kab ntawm AMFs ua ke los tsim ib daim ntawv duab plaub.Cov qauv woven no yog denser dua nyob rau hauv daim duab 2B, ua tsaug rau cov mos acrylic threads yooj yim sau tag nrho daim ntawv.Vim tias peb tsuas yog siv ib qho AMF ua qhov warp, daim ntawv woven tuaj yeem tsuas yog nthuav mus rau lub warp nyob rau hauv siab.Daim duab 2C qhia txog ib qho piv txwv ntawm cov qauv woven uas nws qhov chaw pib nce 65% ​​ nrog nce siab (1.3 MPa).Tsis tas li ntawd, qhov braided daim (qhov hnyav 2.6 grams) tuaj yeem nqa tau 500 grams, uas yog 192 npaug ntawm nws qhov hnyav.
Hloov chaw ntawm AMF nyob rau hauv ib tug zigzag qauv los tsim ib daim duab plaub woven daim ntawv, peb fabricated ib tug ca spiral duab ntawm lub AMF, uas yog ces radially constrained nrog paj rwb xov los tsim ib puag ncig woven daim ntawv (Daim duab 2D).Lub siab rigidity ntawm AMF txwv nws cov filling ntawm lub hauv paus cheeb tsam ntawm lub phaj.Txawm li cas los xij, cov padding no tuaj yeem ua los ntawm cov xov paj elastic lossis cov ntaub elastic.Thaum tau txais hydraulic siab, AMP hloov nws cov elongation ntev mus rau hauv radial expansion ntawm daim ntawv.Nws kuj tseem tsim nyog sau cia tias ob qho tib si sab nraud thiab sab hauv txoj kab uas hla ntawm cov kauv cov duab tau nce vim qhov txwv radial ntawm cov filaments.Daim duab 2D qhia tau hais tias nrog kev siv hydraulic siab ntawm 1 MPa, cov duab ntawm ib daim ntawv puag ncig nthuav mus rau 25% ntawm nws qhov chaw qub.
Peb nthuav tawm ntawm no ib txoj hauv kev thib ob los ua cov ntawv xov xwm ntse uas peb muab cov AMF rau ib daim ntaub tiaj tus thiab rov kho nws los ntawm kev ua haujlwm mus rau cov qauv tswj hwm.Daim duab kos duab ntawm lub bending tsav yog qhia hauv daim duab.3A, qhov twg lub AMP yog folded rau hauv nruab nrab thiab glued mus rau ib tug strip ntawm inextensible ntaub (paj rwb muslin ntaub) siv ob-sided daim kab xev raws li ib tug nplaum.Thaum kaw, sab saum toj ntawm AMF yog pub dawb kom ntev, thaum lub hauv qab yog txwv los ntawm daim kab xev thiab ntaub, ua rau lub sawb khoov ntawm cov ntaub.Peb tuaj yeem deactivate ib feem ntawm qhov khoov actuator nyob qhov twg los ntawm tsuas yog lo ib daim kab xev ntawm nws.Ib ntu deactivated tsis tuaj yeem txav mus thiab dhau los ua ntu ntu.
Fabrics yog reconfigured los ntawm sticking AMF mus rau ib txwm fabrics.(A) Tsim lub tswv yim rau kev khoov tsav los ntawm gluing lub folded AMF mus rau ib qho khoom siv tsis tau.(B) Khoov ntawm tus actuator qauv.(C) Reconfiguration ntawm ib daim ntaub plaub rau hauv ib tug active plaub-legged neeg hlau.Inelastic npuag: paj rwb tsho.Stretch ntaub: polyester.Cov lus qhia ntxaws ntxaws tuaj yeem pom nyob rau hauv Tshooj Txheej Txheem.
Peb tau ua ob peb tus qauv dabtsi yog khoov actuators ntawm qhov ntev sib txawv thiab nias lawv nrog hydraulics los tsim ib qho dabtsi yog khoov (Daim duab 3B).Qhov tseem ceeb, AMF tuaj yeem muab tso rau hauv txoj kab ncaj nraim los yog folded los tsim ntau cov xov thiab tom qab ntawd txuas rau cov ntaub los tsim ib qho kev khoov nrog cov xov tooj tsim nyog.Peb kuj tau hloov cov ntaub so ntswg mus rau hauv cov qauv tetrapod nquag (Daim duab 3C), qhov uas peb siv AMF los ua cov ciam teb ntawm cov ntaub so ntswg uas tsis muaj zog (paj rwb muslin ntaub).AMP txuas nrog cov ntaub nrog ib daim kab xev ob sab.Qhov nruab nrab ntawm txhua ntug yog taped kom dhau los ua passive, thaum plaub lub ces kaum tseem ua haujlwm.Stretch ntaub sab saum toj npog (polyester) yog xaiv tau.Plaub fab ntawm cov ntaub khoov (zoo li ob txhais ceg) thaum nias.
Peb tau tsim lub rooj ntev zaum sim kom muaj nuj nqis los kawm txog cov khoom ntawm cov khoom siv ntse tsim (saib Cov Txheej Txheem thiab Cov Duab Ntxiv S1).Txij li thaum tag nrho cov qauv tau ua los ntawm AMF, cov qauv dav dav ntawm cov txiaj ntsig kev sim (Daim duab 4) yog raws li cov yam ntxwv tseem ceeb ntawm AMF, uas yog, lub siab nkag ncaj qha ncaj qha rau qhov hluav taws xob elongation thiab inversely proportional rau compression force.Txawm li cas los xij, cov ntaub ntse no muaj cov yam ntxwv tshwj xeeb uas qhia txog lawv cov kev teeb tsa tshwj xeeb.
Features ntse textile configurations.(A, B) Hysteresis nkhaus rau inlet siab thiab qhov hluav taws xob elongation thiab quab yuam rau woven nplooj ntawv.(C) Kev nthuav dav ntawm thaj tsam ntawm daim ntawv woven.(D, E) Kev sib raug zoo ntawm kev nkag siab thiab tso zis elongation thiab quab yuam rau knitwear.(F) Thaj chaw nthuav dav ntawm cov qauv nthuav dav.(G) dabtsi yog khoov lub kaum sab xis ntawm peb qhov sib txawv ntev ntawm kev khoov tsav.
Txhua AMF ntawm daim ntawv woven tau raug rau qhov inlet siab ntawm 1 MPa los tsim kwv yees li 30% elongation (Fig. 4A).Peb xaiv qhov pib no rau tag nrho cov kev sim rau ntau yam: (1) tsim kom muaj qhov elongation tseem ceeb (kwv yees li 30%) los qhia txog lawv cov hysteresis nkhaus, (2) tiv thaiv kev caij tsheb kauj vab los ntawm kev sim sib txawv thiab cov qauv siv rov ua dua uas ua rau muaj kev puas tsuaj lossis tsis ua haujlwm..nyob rau hauv dej siab.Qhov chaw tuag tau pom meej meej, thiab lub braid tseem tsis txav mus txog thaum lub siab nkag mus txog 0.3 MPa.Lub siab elongation hysteresis zaj duab xis qhia tau hais tias muaj qhov sib txawv loj ntawm cov twj tso kua mis thiab tso tawm theem, qhia tias muaj qhov poob ntawm lub zog tseem ceeb thaum daim ntawv woven hloov nws txoj kev txav los ntawm kev nthuav dav mus rau kev cog lus.(Fig. 4A).Tom qab tau txais qhov nkag siab ntawm 1 MPa, daim ntawv woven tuaj yeem siv lub zog sib zog ntawm 5.6 N (Fig. 4B).Lub siab-force hysteresis zaj duab xis kuj qhia tau hais tias qhov rov qab nkhaus yuav luag sib tshooj nrog lub siab tsim-up nkhaus.Lub cheeb tsam nthuav dav ntawm daim ntawv woven nyob ntawm seb qhov siab npaum li cas rau txhua qhov ntawm ob lub AMFs, raws li qhia hauv daim duab 3D nto (Daim duab 4C).Kev sim kuj qhia tau hais tias ib daim ntawv woven tuaj yeem tsim thaj tsam ntawm 66% thaum nws warp thiab weft AMFs ib txhij raug rau hydraulic siab ntawm 1 MPa.
Cov txiaj ntsig ntawm kev sim rau daim ntawv knitted qhia cov qauv zoo sib xws rau daim ntawv woven, nrog rau qhov dav hysteresis qhov sib txawv nyob rau hauv daim duab nro-siab thiab overlapping pressure-force curves.Cov ntawv knitted pom qhov elongation ntawm 30%, tom qab ntawd lub zog compression yog 9 N ntawm qhov nkag siab ntawm 1 MPa (Fig. 4D, E).
Nyob rau hauv cov ntaub ntawv ntawm ib puag ncig woven daim ntawv, nws thawj cheeb tsam tau nce los ntawm 25% piv rau qhov pib cheeb tsam tom qab raug cov kua siab ntawm 1 MPa (Fig. 4F).Ua ntej tus qauv pib nthuav dav, muaj qhov loj inlet siab tuag cheeb tsam mus txog 0.7 MPa.Qhov chaw tuag loj no tau xav tias yog cov qauv tsim los ntawm AMFs loj dua uas yuav tsum tau muaj kev ntxhov siab ntau dua los kov yeej lawv qhov kev ntxhov siab thawj zaug.Ntawm daim duab.4F kuj qhia tau hais tias qhov kev tso tawm nkhaus yuav luag sib npaug nrog lub siab nce nkhaus, qhia tias lub zog poob qis thaum lub disc txav mus.
Cov txiaj ntsig ntawm kev sim rau peb qhov khoov actuators (cov ntaub so ntswg reconfiguration) qhia tias lawv cov hysteresis nkhaus muaj cov qauv zoo sib xws (Daim duab 4G), qhov chaw uas lawv muaj qhov nkag siab qhov chaw tuag txog li 0.2 MPa ua ntej nqa.Peb siv tib lub ntim ntawm cov kua (0.035 ml) rau peb bending drives (L20, L30 thiab L50 mm).Txawm li cas los xij, txhua tus actuator tau ntsib qhov sib txawv siab peaks thiab tsim cov kaum sab xis sib txawv.Lub L20 thiab L30 mm actuators tau ntsib qhov kev nkag siab ntawm 0.72 thiab 0.67 MPa, ncav cuag lub kaum sab xis ntawm 167 ° thiab 194 ° raws.Qhov ntev tshaj plaws dabtsi yog khoov tsav (ntev 50 hli) tiv taus lub siab ntawm 0.61 MPa thiab mus txog qhov siab tshaj plaws khoov lub kaum sab xis ntawm 236 °.Lub siab lub kaum sab xis hysteresis cov phiaj xwm kuj tau nthuav tawm qhov sib txawv loj ntawm lub zog thiab tso tawm nkhaus rau tag nrho peb lub zog khoov.
Kev sib raug zoo ntawm cov khoom ntim thiab cov khoom tso tawm (elongation, quab yuam, cheeb tsam nthuav dav, dabtsi yog khoov lub kaum sab xis) rau saum toj no ntse textile configurations muaj nyob rau hauv Supplementary Figure S2.
Cov kev sim tau tshwm sim hauv ntu dhau los qhia meej meej txog kev sib raug zoo ntawm kev siv lub siab nkag thiab qhov hluav taws xob elongation ntawm AMF cov qauv.Qhov muaj zog ntawm AMB yog strained, qhov loj dua qhov elongation nws tsim thiab ntau elastic zog nws accumulates.Yog li ntawd, qhov ntau dua lub zog compressive nws exerts.Cov txiaj ntsig kuj tau pom tias cov qauv mus txog lawv qhov siab tshaj plaws compression quab yuam thaum lub inlet siab raug tshem tawm tag nrho.Nqe lus no yog tsim los tsim kom muaj kev sib raug zoo ntawm elongation thiab qhov siab tshaj plaws shrinkage quab yuam ntawm knitted thiab woven nplooj ntawv los ntawm analytical modeling thiab sim ua pov thawj.
Qhov siab tshaj plaws contractile quab yuam Fout (ntawm inlet siab P = 0) ntawm ib zaug AMF tau muab nyob rau hauv ref 49 thiab reintroduced raws li nram no:
Ntawm lawv, α, E, thiab A0 yog qhov stretching yam, Young's modulus, thiab cross-sectional cheeb tsam ntawm silicone tube, feem;k yog qhov tawv coefficient ntawm kauv kauj;x thiab li yog offset thiab pib ntev.AMP, raws.
txoj kev sib npaug.(1) Siv cov ntaub ntawv knitted thiab woven ua piv txwv (Fig. 5A, B).Lub zog shrinkage ntawm cov khoom knitted Fkv thiab cov khoom woven Fwh tau qhia los ntawm kev sib npaug (2) thiab (3), feem.
qhov twg mk yog tus naj npawb ntawm loops, φp yog lub voj kaum ntawm cov ntaub knitted thaum txhaj tshuaj (Daim duab 5A), mh yog tus naj npawb ntawm cov xov, θhp yog lub kaum sab xis ntawm cov ntaub knitted thaum txhaj tshuaj (Daim duab 5B), εkv εwh yog daim ntawv knitted thiab deformation ntawm daim ntawv woven, F0 yog thawj zaug nro ntawm cov kauv kauj.Paub meej derivation ntawm qhov sib npaug.(2) thiab (3) tuaj yeem pom hauv cov ntaub ntawv txhawb nqa.
Tsim ib qho qauv tshuaj ntsuam rau kev sib raug zoo elongation-force.(A, B) Cov qauv kev ntsuas ntsuas rau cov ntaub ntawv knitted thiab woven, feem.(C, D) Kev sib piv ntawm cov qauv tshuaj ntsuam xyuas thiab cov ntaub ntawv sim rau cov ntaub ntawv knitted thiab woven.RMSE Root txhais tau tias square yuam kev.
Txhawm rau kuaj cov qauv tsim, peb tau ua qhov kev sim elongation siv cov qauv knitted hauv daim duab 2A thiab cov qauv braided hauv daim duab 2B.Kev sib cog lus quab yuam tau ntsuas hauv 5% nce ntxiv rau txhua qhov txuas ntxiv ntawm 0% mus rau 50%.Qhov nruab nrab thiab tus qauv sib txawv ntawm tsib qhov kev sim tau nthuav tawm hauv daim duab 5C (knit) thiab daim duab 5D (knit).Cov nkhaus ntawm cov qauv kev ntsuas tau piav qhia los ntawm kev sib npaug.Parameters (2) thiab (3) yog muab rau hauv Table.1. Cov txiaj ntsig tau pom tias tus qauv ntsuas tau pom zoo nrog cov ntaub ntawv kev sim dhau ntawm tag nrho cov elongation ntau yam nrog lub hauv paus ntsiab lus square yuam kev (RMSE) ntawm 0.34 N rau knitwear, 0.21 N rau woven AMF H ( kab rov tav kev taw qhia) thiab 0.17 N rau woven AMF.V (verttical direction).
Ntxiv nrog rau cov kev taw qhia yooj yim, cov ntawv thov ntse tuaj yeem tsim kho kom muaj kev txav ntau dua xws li S-bend, radial contraction, thiab 2D rau 3D deformation.Peb nthuav tawm ntawm no ob peb txoj hauv kev rau programming tiaj tus ntse textiles rau hauv cov qauv xav tau.
Ntxiv nrog rau kev nthuav dav cov npe nyob rau hauv cov kev taw qhia linear, unidirectional woven nplooj ntawv tuaj yeem ua tau mechanically programmed los tsim multimodal txav (Fig. 6A).Peb rov kho qhov txuas ntxiv ntawm daim ntawv braided raws li kev khoov, txwv ib qho ntawm nws lub ntsej muag (sab saum toj lossis hauv qab) nrog cov xov xaws.Cov nplooj ntawv zoo li khoov mus rau qhov chaw ciam teb nyob rau hauv siab.Ntawm daim duab.6A qhia ob qho piv txwv ntawm cov woven panels uas ua S-zoo li thaum ib nrab yog cramped rau sab saum toj thiab ib nrab yog cramped nyob rau hauv qab.Xwb, koj tuaj yeem tsim ib lub voj voog khoov qhov twg tsuas yog tag nrho lub ntsej muag raug txwv.Ib daim ntawv unidirectional braided tuaj yeem ua rau hauv lub tes tsho compression los ntawm kev txuas nws ob qhov kawg rau hauv cov qauv tubular (Fig. 6B).Lub tes tsho yog hnav dhau ib tus neeg tus ntiv tes ntiv tes los muab compression, ib daim ntawv ntawm kev kho zaws kom txo tau qhov mob lossis txhim kho kev ncig.Nws tuaj yeem ntsuas kom haum rau lwm qhov hauv lub cev xws li caj npab, lub duav, thiab ob txhais ceg.
Muaj peev xwm los xaws cov ntawv hauv ib qho kev coj.(A) Tsim cov qauv deformable vim qhov programmability ntawm cov duab xaws xov.(B) Lub tes tsho compression ntiv tes.(C) Lwm version ntawm daim ntawv braided thiab nws cov kev siv raws li ib tug forearm compression tes tsho.(D) Lwm lub tes tsho compression qauv ua los ntawm AMF hom M, acrylic yarn thiab Velcro straps.Cov lus qhia ntxaws ntxaws tuaj yeem pom nyob rau hauv Tshooj Txheej Txheem.
Daim duab 6C qhia lwm qhov piv txwv ntawm ib daim ntawv unidirectional woven los ntawm ib qho AMF thiab paj rwb yarn.Daim ntawv tuaj yeem nthuav dav li 45% hauv cheeb tsam (ntawm 1.2 MPa) lossis ua rau lub voj voog nyob rau hauv siab.Peb kuj tau muab tso rau ib daim ntawv los tsim lub forearm compression lub tes tsho los ntawm kev txuas cov hlau nplaum mus rau qhov kawg ntawm daim ntawv.Lwm tus qauv forearm compression lub tes tsho yog pom nyob rau hauv daim duab 6D, nyob rau hauv uas unidirectional braided nplooj ntawv tau ua los ntawm hom M AMF (saib Methods) thiab acrylic yarns los tsim kom muaj zog compression rog.Peb tau nruab qhov kawg ntawm cov nplooj ntawv nrog Velcro pluaj kom yooj yim txuas thiab rau qhov sib txawv ntawm tes.
Cov txheej txheem txwv, uas hloov cov kab txuas ntxiv mus rau hauv cov lus tsa suab, kuj tseem siv tau rau cov nplooj ntawv bidirectional woven.Peb weave cov paj rwb xov ntawm ib sab ntawm warp thiab weft woven nplooj kom lawv tsis nthuav (Fig. 7A).Yog li, thaum ob lub AMFs tau txais hydraulic siab ntawm nws tus kheej ntawm ib leeg, daim ntawv tau dhau los ua ib qho kev taw qhia ob txoj kev khoov los tsim cov qauv peb-dimensional arbitrary.Hauv lwm txoj hauv kev, peb siv cov xov paj inextensible los txwv ib qho kev taw qhia ntawm cov ntaub ntawv bidirectional (Daim duab 7B).Yog li, daim ntawv tuaj yeem ua kom muaj kev ywj pheej khoov thiab ncab txav thaum qhov sib thooj AMF nyob rau hauv siab.Ntawm daim duab.7B qhia ib qho piv txwv uas ib daim ntawv bidirectional braided yog tswj los qhwv ib ncig ntawm ob feem peb ntawm ib tug tib neeg tus ntiv tes nrog ib tug dabtsi yog khoov zog thiab ces ncua nws ntev los npog qhov seem nrog ib tug stretching tsab ntawv tsa suab.Ob txoj kev txav ntawm cov nplooj ntawv tuaj yeem muaj txiaj ntsig zoo rau kev tsim zam lossis kev tsim cov khaub ncaws ntse.
Bi-directional woven ntawv, knitted ntawv thiab radially expandable tsim peev xwm.(A) Bi-directional bonded bi-directional wicker panels los tsim ib qho kev khoov ob-directional.(B) Unidirectionally constrained bidirectional wicker panels tsim flex thiab elongation.(C) Cov ntaub ntawv zoo heev knitted, uas tuaj yeem ua raws li qhov sib txawv ntawm qhov sib txawv thiab txawm tias cov qauv tubular.(D) delimitation ntawm kab nruab nrab ntawm ib tug radially expanding qauv tsim ib tug hyperbolic parabolic zoo (qos yaj ywm chips).
Peb txuas ob lub voj uas nyob ib sab ntawm cov kab sab sauv thiab sab qis ntawm cov kab knitted nrog cov xov xaws kom nws tsis tuaj yeem tawm (Daim duab 7C).Yog li, daim ntawv woven yog hloov tau yooj yim thiab yoog tau zoo rau ntau qhov chaw nkhaus, xws li daim tawv nqaij ntawm tib neeg txhais tes thiab caj npab.Peb kuj tau tsim cov qauv tubular (lub tes tsho) los ntawm kev sib txuas ntawm qhov kawg ntawm qhov knitted ib feem ntawm kev coj mus ncig.Lub tes tsho qhwv zoo nyob ib ncig ntawm tus neeg tus ntiv tes taw (Daim duab 7C).Lub sinuosity ntawm woven npuag muab zoo heev haum thiab deformability, ua rau nws yooj yim rau siv nyob rau hauv ntse hnav (cov hnab looj tes, compression tes tsho), muab kev nplij siab (los ntawm haum) thiab kho nyhuv (los ntawm compression).
Ntxiv nrog rau 2D radial nthuav dav hauv ntau cov lus qhia, cov ntawv xov xwm ncig kuj tseem tuaj yeem tsim los tsim cov qauv 3D.Peb txwv txoj kab nruab nrab ntawm lub voj voog puag ncig nrog cov xov paj acrylic kom cuam tshuam nws cov duab radial nthuav dav.Raws li qhov tshwm sim, thawj cov duab tiaj tus ntawm daim ntawv puag ncig woven tau hloov mus rau hauv cov duab hyperbolic parabolic (los yog cov qos yaj ywm chips) tom qab pressurization (Fig. 7D).Lub peev xwm hloov pauv no tuaj yeem siv los ua lub tshuab nqa nqa, lub lens kho qhov muag, cov ceg ntoo ntawm tes, lossis tuaj yeem siv tau zoo hauv kev tsim qauv thiab cov neeg hlau bionic.
Peb tau tsim cov txheej txheem yooj yim los tsim cov flexural drives los ntawm gluing AMF mus rau ib lub strip ntawm non-stretch fabric (Daim duab 3).Peb siv lub tswv yim no los tsim cov duab programmable threads uas peb tuaj yeem muab cov tswv yim faib ntau yam nquag thiab tsis muaj zog hauv ib qho AMF los tsim cov duab uas xav tau.Peb fabricated thiab programmed plaub active filaments uas yuav hloov lawv cov duab los ntawm ncaj nraim mus rau tsab ntawv (UNSW) raws li siab tau nce (Supplementary Fig. S4).Txoj kev yooj yim no tso cai rau lub deformability ntawm AMF tig 1D kab rau hauv 2D duab thiab tej zaum txawm 3D qauv.
Hauv ib txoj hauv kev zoo sib xws, peb siv ib qho AMF los kho dua ib daim ntawm cov ntaub so ntswg ib txwm muaj rau hauv ib qho tetrapod active (Fig. 8A).Routing thiab programming cov ntsiab lus zoo ib yam li cov uas pom hauv daim duab 3C.Txawm li cas los xij, es tsis txhob siv cov ntawv duab plaub, lawv pib siv cov ntaub nrog cov qauv quadrupedal (turtle, paj rwb muslin).Yog li ntawd, ob txhais ceg ntev dua thiab cov qauv tuaj yeem nce siab dua.Qhov siab ntawm cov qauv maj mam nce nyob rau hauv siab kom txog thaum nws ob txhais ceg yog perpendicular rau hauv av.Yog hais tias lub inlet siab nce ntxiv, ob txhais ceg yuav sag sab hauv, txo qhov siab ntawm cov qauv.Tetrapods tuaj yeem ua haujlwm yog tias lawv ob txhais ceg tau nruab nrog cov qauv unidirectional lossis siv ntau yam AMFs nrog cov tswv yim tswj kev txav.Mos locomotion robots yog xav tau rau ntau yam dej num, suav nrog kev cawm dim los ntawm hluav taws kub hnyiab, cov tsev tawg lossis ib puag ncig uas muaj kev phom sij, thiab cov khoom siv tshuaj kho mob.
Cov ntaub yog reconfigured los tsim cov qauv hloov pauv.(A) Kaw lub AMF mus rau ciam teb ntawm daim ntawv passive ntaub, tig nws mus rau hauv ib tug steerable plaub-legged qauv.(BD) Ob qho piv txwv ntawm cov ntaub so ntswg reconfiguration, tig passive butterflies thiab paj rau hauv active sawv daws yuav.Non-stretch fabric: dawb paj rwb muslin.
Peb kuj coj kom zoo dua ntawm qhov yooj yim thiab versatility ntawm cov ntaub so ntswg reconfiguration txheej txheem los ntawm kev qhia ob tug ntxiv bioinspired lug rau reshaping (Figures 8B-D).Nrog rau AMF routable, cov qauv no-deformable yog reconfigured los ntawm cov nplooj ntawv ntawm passive ntaub so ntswg mus rau active thiab steerable qauv.Kev tshoov siab los ntawm huab tais npauj npaim, peb tau ua ib qho kev hloov pauv npauj npaim siv ib daim ntawm npauj npaim-puab ntaub (paj rwb muslin) thiab ib daim ntev ntawm AMF daig hauv qab nws tis.Thaum AMF nyob rau hauv siab, cov tis folds.Zoo li huab tais Npauj Npaim, Npauj Npaim Robot sab laug thiab sab xis tis zoo ib yam vim tias lawv ob leeg tswj hwm los ntawm AMF.Npauj npaim flaps yog rau kev tso saib nkaus xwb.Nws tsis tuaj yeem ya zoo li Smart Bird (Festo Corp., USA).Peb kuj tau ua paj ntaub (Daim duab 8D) uas muaj ob txheej ntawm tsib petals txhua.Peb tso AMF hauv qab txhua txheej tom qab sab nraud ntawm cov nplaim paj.Thaum pib, lub paj yog nyob rau hauv tag nrho Bloom, nrog tag nrho cov petals qhib tag nrho.Nyob rau hauv lub siab, AMF ua rau ib tug dabtsi yog khoov txav ntawm cov petals, ua rau lawv kaw.Ob lub AMFs ntawm nws tus kheej tswj kev txav ntawm ob txheej, thaum tsib petals ntawm ib txheej flex tib lub sijhawm.