Growing Structure Based on Viscous Actuation of Constrained Multistable Elements

摘要

Abstract Growing soft materials which follow a three dimensional (3D) path in space are critical to applications such as search and rescue and minimally invasive surgery. Herein, a concept for a single‐input growing multi‐stable soft material, based on a constrained straw‐like structure is presented. This class of materials are capable of maneuvering and transforming their configuration by elongation while executing multiple turns. This is achieved by sequenced actuation of bi‐stable frusta with predefined constraints. Internal viscous flow and variations in the stability threshold of the individual cells enable sequencing and control of the robot's movement so as to follow a desired 3D path as the structure grows. A theoretical description of the shape and dynamics resulting from a particular set of constraints is derived. To validate the model and demonstrate the suggested concept, experiments of maneuvering in models of residential and biological environments are presented. In addition to performing complex 3D maneuvers, the tubular structure of these robots may also be used as a conduit to reach inaccessible regions, which is demonstrated experimentally.