Snap ori-kirigami of inflatable actuators

Abstract

Soft actuators with significant morphing capabilities perform diverse tasks through reconfiguration of their mechanical properties. However, shape shifting of soft machines often requires complex mechanisms with individual control method for each function. Here, we present a simple, versatile mechanism for soft inflatable actuators with reversible modularity stimulated by pneumatic snap-through of bistable shells. We interconnect pneumatic networks (pneu-nets) integrated with spherical shells and use this mechanism to construct ori-kirigami designs that can fold and deploy into diverse structures. By controlling the snap-through criteria of shells, this snap ori-kirigami pneu-net can shape-shift into various modes performing multiple discrete functions through single pressure input control. The reconfigured structure can also be maintained without the constant supply of pressure, enabling separate actuation of each mode. We demonstrate this system through ori-kirigami designs, '3D spinning ball' and '2D quad-tessellation', to create soft robots capable of morphing and performing multiple functions. Our study provides a novel mechanism for the design and control of inflatable soft devices that can reversibly transform in shape and function.