Title: Multiparameter actuation of a neutrally-stable shell: a flexible gear-less motor,
Abstract: We have designed and tested experimentally a morphing structure consisting of
a neutrally stable thin cylindrical shell driven by a multiparameter
piezoelectric actuation. The shell is obtained by plastically deforming an
initially flat copper disk, so as to induce large isotropic and almost uniform
inelastic curvatures. Following the plastic deformation, in a perfectly
isotropic system, the shell is theoretically neutrally stable, owning a
continuous manifold of stable cylindrical shapes corresponding to the rotation
of the axis of maximal curvature. Small imperfections render the actual
structure bistable, giving preferred orientations. A three-parameter
piezoelectric actuation, exerted through micro-fiber-composite actuators,
allows us to add a small perturbation to the plastic inelastic curvature and to
control the direction of maximal curvature. This actuation law is designed
through a geometrical analogy based on a fully non-linear inextensible
uniform-curvature shell model. We report on the fabrication, identification,
and experimental testing of a prototype and demonstrate the effectiveness of
the piezoelectric actuators in controlling its shape. The resulting motion is
an apparent rotation of the shell, controlled by the voltages as in a
"gear-less motor", which is, in reality, a precession of the axis of principal
curvature.