School of Engineering and Applied Sciences, Yale University, CT 06511, New Haven, USA.
Department of Mechanical Engineering, The University of Alabama, AL 35487, Tuscaloosa, USA.
Adv Mater. 2023 Jun;35(26):e2300535. doi: 10.1002/adma.202300535. Epub 2023 May 10.
Programming inflatable systems to deform to desired 3D shapes opens up multifarious applications in robotics, morphing architecture, and interventional medicine. This work elicits complex deformations by attaching discrete strain limiters to cylindrical hyperelastic inflatables. Using this system, a method is presented to solve the inverse problem of programming myriad 3D centerline curves upon inflation. The method entails two steps: first, a reduced-order model generates a conceptual solution giving coarse indications of strain limiter placement on the undeformed cylindrical inflatable. This low-fidelity solution then seeds a finite element simulation nested within an optimization loop to further tune strain limiter parameters. We leverage this framework to achieve functionality through a priori programmed deformations of cylindrical inflatables, including 3D curve matching, self-tying knotting, and manipulation. The results hold broad significance for the emerging computational design of inflatable systems.
通过编程使可膨胀系统变形为所需的 3D 形状，为机器人技术、变形建筑和介入医学等领域带来了多样化的应用。本工作通过在圆柱形超弹性可膨胀体上附加离散应变限制器来产生复杂的变形。使用该系统，提出了一种在充气过程中对众多 3D 中心线曲线进行编程的逆问题的解决方案。该方法包括两个步骤：首先，降阶模型生成一个概念性解决方案，给出在未变形的圆柱形可膨胀体上放置应变限制器的大致指示。然后，这个低保真解决方案为嵌套在优化循环内的有限元模拟提供种子，以进一步调整应变限制器参数。我们利用这个框架通过对圆柱形可膨胀体的预先编程变形来实现功能，包括 3D 曲线匹配、自打结和操纵。该结果对于充气系统的新兴计算设计具有广泛的意义。
