Untethered kirigami soft robots with programmable locomotion

Author:

Wang Jinqiang1ORCID,Wang Ruichen1ORCID,Zhu Zixiao1ORCID,Zhou Kun2ORCID,Wang Dong1ORCID

Affiliation:

1. State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University 1 , 800 Dongchuan Road, Shanghai 200240, China

2. Singapore Centre for 3D Printing, School of Mechanical and Aerospace Engineering, Nanyang Technological University 2 , 50 Nanyang Avenue, Singapore 639798, Singapore

Abstract

Kirigami can induce shape transformations in planar and nonplanar geometry by rational cut design, significantly increasing the kinematics degree of freedom. Here, we exploit kirigami metamaterials and hard-magnetic actuation to design untethered soft robots. The kirigami soft robot, consisting of slit perforated kirigami patterns with embedded hard-magnetic disks in each facet, exhibits modularity, scalability, and programmable locomotion. By varying the magnetization arrays, the kirigami soft robots show diverse static and dynamic behaviors, which are systematically studied by experiments and FEM. We demonstrate multi-module soft robots with programmable locomotion, where directional locomotion is generated by a synergistic effect and circular motion is realized by the asymmetric pattern. Active and passive environmental adaptabilities and multifunctionalities are shown, including passing over gaps, active obstacle avoidance, moving over various substrates, carrying loads, remote circuit switches, and amphibious motions by bistability. This work paves the way to design untethered soft robots with programmable motions and multifunctionalities.

Funder

National Key Research and Development Program of China

National Natural Science Foundation of China

Interdisciplinary Program of Shanghai Jiao Tong University

State Key Laboratory of Mechanical System and Vibration

Publisher

AIP Publishing

Subject

General Physics and Astronomy

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