Energy Storage in “Omega” Shapes Found in Nature

Sean 1
Sawaya ,
Daniel Wolfe Curtis Ed 1
Bradford , O’Malley ,
1 Habtour2
1Mechanical Engineering Department, New Mexico Tech, 2Sandia National Laboratories

Abstract Sample Selection Conclusion

The method of locomotion used by soft robotics system is a complex Three different bead shapes were chosen for testing. The beads were either flat on both ends, convex on The tension and compression tests of the samples provided useful
problem with multiple solutions. Nature provides many examples of both ends, or concave on one end and convex on the other. One thing to note with the concave-convex information of the limits that the individual segments in a structure would be
structures that are effective at storing energy that could be used as a basis samples is that the orientation of the beads was matching. This meant that the concave end on one bead able to reach. These limits would be used in the process of designing a
for a method of locomotion for a soft robotics system. One of these would always be next to the convex end of the following bead. Each sample was only two matching beads system that utilizes one of these structures by providing limits to the amount
structures is omega shapes found in the vertebrae structure of many cast in silicone. This was chosen to isolate the properties of a single segment in the overall omega shape. of force an actuator would be able to apply before damage or failure occurs
different animals. The ability to characterize different variation of these Three different bead spacing were tested: 11mm (1 bead diameter), 16.5mm (1.5 bead diameters), and within the structure. There were inaccuracies associated with the tension
vertebrae structures would allow for quicker utilization of these structures in 22mm (2 bead diameters). These two parameters allow for the characterization of the effect of bead spacing and compression tests, however.
soft robotic applications. 3D printed beads cast in silicone are used to and bead shape on energy storage. For the tension test, there were multiple local maximums for force over the
replicate vertebrae in these omega shapes. Three different bead shapes a) b) c)
range of displacement for each test, and the maximum force reached over
and three different spacings were used to characterize the effect of each on Testing multiple tests was not consistent. The local maximums were likely caused
the energy storage properties of the structure. Three tests were run for each sample: bend, tension, by different parts of the structure failing at different force and displacement
and compression. For each sample type three trials combinations. The variation in maximum force was likely caused from
were run in each test. All tests were run using a inconsistencies in the fabrication of the samples. These inaccuracies could
motorized tension/compression test stand. Time, be reduced with stricter guidelines for fabricating the samples.
displacement, and force measurements were taken For the compression test, it was observed that many of the screw eyes
for the tension and compression tests. For the would be bent after the test. This likely introduced inaccuracies in the data
bending tests, force and time measurements were collected from the tests. A different testing setup that allowed for pivoting at
taken along with a video of the test. This video was the ends of the sample could be used to reduce these inaccuracies.
later used in conjunction with Kinovea, a video Figure 3: Images of The bend tests provided information that would be used to best specify the
Figure 1: Omega shape can be seen in the tracking software, and MATLAB in order to calculate a) compression, b) tension, and combination of parameters that would be needed in a structure. These
spine of a cheetah while running the angle the sample was bent to based on time c) bending tests being ran. parameters would be decided based on the design requirements of the soft
throughout the test. These two measurements, force robotics system.
Materials over time and angle over time, are then combined to
The beads that were used to replicate vertebrae in the omega shapes were provide the angle over force measurement.
3D printed in Onyx. Onyx is a nylon-based filament doped with carbon fiber.
The beads were glued onto nylon string so that proper spacing in between Results
the two beads and between the beads and the walls of the molds was Table 1: Results of independent material testing of the 3D printing onyx filament. Print settings used were
maintained during casting. Brass and zinc screw eyes were used for 37% triangular infill, 4 roof and floor layers, and 2 walls. These were the same settings used for the beads.
attaching the samples to the testing machines. These were screwed into the Onyx Material Testing Results
beads prior to casting in the silicone. Smooth-On Mold Max 15T silicone
Elastic Modulus (MPa) Yield Strength (MPa) Ultimate Strength (MPa)
was used as the casting material. This silicone was chosen because it has
Compression 98.3 MPa 8.48 MPa 8.57 MPa
similar properties to the silicone that was initially used in this project.
Tension 1.84 GPa 34.6 MPa 35.0 MPa
The molds for the
samples were created by a) b) a) b) Figure 5: Example of a structure that is more
taking one-inch diameter representative of what a soft robotics system would utilize
PCV piping and cutting it
to the desired length for Future Work
the given spacing and in Tests with larger samples that have a higher number of beads in them
half lengthwise to created would be the next step forward. These tests would show if there is a
two separable halves. behavior change between single and multiple segment samples and if the
These halves assists with c) d) properties of single segment samples can be applied to samples with
the removal of the multiple segments. Tests studying the effects of other parameters such as
samples from the molds surface roughness and diameter of the beads could be completed as well.
after casting. Caps were
3D printed that would Acknowledgements
center the beads in the The INTENSE REU is funded by the National Science Foundation (NSF)
c) d) Division of Engineering Education and Centers (EEC) award #1757793.
molds. The caps also
sealed the bottom of the The project is led at NMT by PI Dr. Michael Hargather and Co-PI Dr.
Figure 2: Collection of images detailing the
mold while allowing for Mostafa Hassanalian.
fabrication of the test samples.
silicone to be poured in Thanks to Mattijs Kuiper and Rob de Wilde for their pioneering work on the
a) Onyx beads glued onto nylon string with
through the top. Duct tape project.
screw eyes inserted.
and hot glue were finally b) Mold halves with caps.
used in order to seal the c) Filled molds hanging while curing.
References
seams between the two Kuiper, M., & de Wilde, R. (2019). Energy storage in “Omega” shapes found
d) Completed samples.
halves of PVC and in nature. 2019 Conference: Academic Research Skills. University of
between the PVC and the Twente.
caps. Figure 4: Plots for a) tension, b) compression, and c) & d) bending tests of the segmented samples. A
comparison of bead types is shown in c) and a comparison of spacing is shown in d).

Sean Sawaya ♦ NSF INTENSE REU Participant ♦ Mechanical Engineering Student ♦ smsean@crimson.ua.edu