Title
Robotic Metamaterial with Odd Elasticity: Design and testing of a Metamaterial with novel actuation and control method
Author
Naber, Rutger (TU Delft Mechanical, Maritime and Materials Engineering)
Contributor
Hassan HosseinNia, S. (mentor)
Coulais, Corentin (graduation committee)
Hunt, A. (graduation committee)
Veenstra, Jonas (graduation committee)
Degree granting institution
Delft University of Technology
Programme
Mechanical Engineering | Mechatronic System Design (MSD)
Date
2022-07-25
Abstract
Going beyond naturally occurring materials, Metamaterials exploit a design at the microscale resulting in macroscopic behaviour, to achieve different or even new properties that can have a wide range of applications. By incorporating sensors, actuators and control, Robotic Metamaterials can achieve even more extremely different behaviour such as odd elasticity. By using local control and non-reciprocal couplings between actuators, an asymmetric elastic response can be achieved. Due to the non-conservative nature of this coupling, the system has a tendency to cycle and give rise to complex behaviours such as locomotion. Through simple and localized control, complex material behaviour is achieved, where the body is performing the computation and no complex control or computations systems are required.
In this work, a new unit cell for a metamaterial that achieves this odd elasticity is designed, manufactured, and finally tested. The unit cell consists of 3 hexagonal mechanisms with compliant joints and a linear actuator inside and is locally controlled. By using a novel Actuator design and engineering principles such as compliant mechanisms, a unit cell design is achieved that has 10 times smaller scale per area and 15 times higher strength-to-weight ratio compared to existing work. Finally, this unit cell was characterized and combined into a larger lattice showcasing the possibilities for future research into the behaviour of odd elastic metamaterials.
Subject
Metamaterials
Active Matter
Robotics
Odd Elasticity
Soft Condensed Matter
Electromagnetic Actuators
Actuator
To reference this document use:
http://resolver.tudelft.nl/uuid:c15b0150-a67b-4d30-9e6e-641b557d3e79
Embargo date
2024-07-25
Part of collection
Student theses
Document type
master thesis
Rights
© 2022 Rutger Naber