Massachusetts Institute of Technology

Nikolaos Vlavianos

Jifei Ou

Sen Dai

Jannik Peters

Christoph Schumann

Zhao Ma

A modular structure may comprise multiple mechanical linkages. The structure may undergo two-dimensional or three-dimensional shape transformations, such as bending, twisting, shearing, uniform scaling, and anisotropic scaling. These shape transformations may be actuated by applying force to one or more specific locations in the structure. Each of the linkages in the modular structure may comprise a four-bar linkage. The exact shape transformation that the structure undergoes may be determined by the type and location of the linkages in the structure.

Methods and apparatus for shape transformation of multi-linkage structure

Layers of composite material, such as pre-peg, may be deposited on a reconfigurable polymer mold. An array of actuated pins may deform the polymer mold into a desired 3D shape. The composite material may be inside a cavity formed by the mold and a flexible bag. A vacuum pump may remove air from the cavity, creating a partial vacuum. The partial vacuum may cause the flexible bag to press the composite tightly against the mold, so that the composite conforms to the desired 3D shape. One or more heating elements may be embedded in the mold and may heat the composite to cure the composite. Ball joints may connect the actuated pins to the polymer mold.

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Nikolaos Vlavianos