Tanaka Masato, Song Yuyang, Nomura Tsuyoshi
Toyota Central R&D Laboratories, Inc., 41-1, Yokomichi, Nagakute, Aichi, 480-1192, Japan.
Toyota Research Institute of North America, Toyota Motor North America, Ann Arbor, MI, 48105, USA.
Sci Rep. 2024 Aug 19;14(1):19175. doi: 10.1038/s41598-024-69450-z.
This paper presents a novel computational design and fabrication method for fabric-based soft pneumatic actuators (FSPAs) that use Turing patterns, inspired by Alan Turing's morphogenesis theory. These inflatable structures can adapt their shapes with simple pressure changes and are applicable in areas like soft robotics, airbags, and temporary shelters. Traditionally, the design of such structures relies on isotropic materials and the designer's expertise, often requiring a trial-and-error approach. The present study introduces a method to automate this process using advanced numerical optimization to design and manufacture fabric-based inflatable structures with programmable shape-morphing capabilities. Initially, an optimized distribution of the material orientation field on the surface membrane is achieved through gradient-based orientation optimization. This involves a comprehensive physical deployment simulation using the nonlinear shell finite element method, which is integrated into the inner loop of the optimization algorithm. This continuous adjustment of material orientations enhances the design objectives. These material orientation fields are transformed into discretized texture patterns that replicate the same anisotropic deformations. Anisotropic reaction-diffusion equations, using diffusion coefficients determined by local orientations from the optimization step, are then utilized to create space-filling Turing pattern textures. Furthermore, the fabrication methods of these optimized Turing pattern textures are explored using fabrics through heat bonding and embroidery. The performance of the fabricated FSPAs is evaluated through three different deformation shapes: C-shaped bending, S-shaped bending, and twisting.
本文提出了一种基于织物的软气动致动器（FSPA）的新型计算设计与制造方法，该方法受艾伦·图灵的形态发生理论启发，采用图灵图案。这些可充气结构能够通过简单的压力变化来改变形状，适用于软机器人技术、安全气囊和临时避难所等领域。传统上，此类结构的设计依赖于各向同性材料和设计者的专业知识，通常需要反复试验。本研究引入了一种方法，利用先进的数值优化来自动化这一过程，以设计和制造具有可编程形状变形能力的基于织物的可充气结构。首先，通过基于梯度的方向优化实现表面膜上材料方向场的优化分布。这涉及使用非线性壳有限元方法进行全面的物理部署模拟，并将其集成到优化算法的内环中。材料方向的这种持续调整提高了设计目标。这些材料方向场被转换为离散的纹理图案，以复制相同的各向异性变形。然后利用各向异性反应扩散方程，通过优化步骤中由局部方向确定的扩散系数，来创建填充空间的图灵图案纹理。此外，还探索了通过热粘合和刺绣等织物方法来制造这些优化的图灵图案纹理。通过三种不同的变形形状：C形弯曲、S形弯曲和扭转，对制造的FSPA的性能进行了评估。
