🤖 AI Summary
This study addresses the insufficient load-bearing stiffness of flexible textile systems by proposing a 3D braided shell structure integrated with active materials. A modular framework is constructed using assembled “braiding angle” units, while an eigenvalue analysis algorithm is employed to optimize the actuation and load-bearing mechanisms. This approach achieves high axial stiffness, low bending stiffness, and system-level damage resilience. Based on this methodology, five robotic prototypes were successfully developed, demonstrating stable locomotion under payloads up to 70 times their own weight while maintaining reliable performance even after extreme compression. This work establishes a novel structural design paradigm for high-payload soft robots.
📝 Abstract
The craft of weaving, where different materials are interlaced, has tremendous potential for creating active and functional systems for use in soft robots, prosthetics, wearables, exoskeletons, and more. These textile-like systems are flexible and safe for human-machine interaction; however, this inherent flexibility limits their ability to carry loads, which is essential for many robotic functions. In this work, we introduce a general framework for integrating active materials into three-dimensional (3D) woven shells to create robotic structures that combine high axial stiffness for load bearing, low bending stiffness for efficient actuation, and system-level resilience for damage tolerance. These woven robots can be modularly assembled from'woven corners', a fundamental unit of 3D woven structures. We use eigenvalue calculations to identify load bearing and actuation mechanisms of the 3D woven structures, and use that information to make five different robots capable of locomotion. We demonstrate that these 3D woven robots can locomote carrying loads 70 times their self-weight, and can maintain repeatable performance even after being subjected to extreme compression. This work is a pathway toward the design, manufacturing, and simulation of future 3D woven robotic systems where load bearing, high stiffness, active functional deformation, locomotion, and system-level resilience are all needed.