arXiv subjects

Anna Zigelman

Publications and source records attributed to Anna Zigelman.

7 recordsLinked to original sources

arXiv2026

Beyond Crease Geometry: Multistability in Origami-Inspired Structures through Local Fold Architectures

Origami-inspired tubular structures provide a versatile platform for shape morphing, with multistability achieved predominantly through crease-network geometry. Expanding the range of morphing behaviors can therefore require increasingly intricate crease patterns that become more difficult to model and fabricate, ultimately constraining the realizable morphing landscape. Here, we expand the design space of origami-inspired structures beyond geometry by introducing localized instabilities within the crease network, thereby creating compliant multistable structures whose local fold architectures govern global deformation and stability through both constitutive mechanics and geometric constraints. To relate local fold architectures to global multistability, we develop and experimentally validate a modeling framework in which compliant folds are represented as continuous fields that capture spatially varying bistable mechanics. Force- and displacement-controlled design maps demonstrate that global deformation and stability can be programmed through the fold architecture's local parameters. Redistributing bistability within a fixed crease-network topology shifts the global response between compliant, spatially distributed deformation in semi-bistable architectures and discrete transitions within a hierarchically organized space of stable configurations in fully bistable architectures. These results establish a local-to-global design principle for programming both the stable configurations of a structure and the transition pathways connecting them, expanding the design space for multistable metamaterials, adaptive morphing structures, and soft robotic systems.

cond-mat.soft↗

arXiv2026

Passive Vibration-Driven Locomotion

We investigate a concept of passive, vibration-driven locomotion, in which a mechanical system achieves horizontal self-propulsion by resonantly harvesting energy from vertical environmental excitations (e.g. ambient vibrations of underwater pipelines), without a direct propulsive actuation. The system consists of a capsule containing an internal pendulum attached to its base mounted on a vertically vibrating substrate. The underlying locomotion mechanism relies on resonant energy transfer from the vertically vibrating substrate to the internal oscillatory element. Under appropriate forcing conditions and in the presence of asymmetric dissipative interactions, this internal oscillator induces a net unidirectional motion of the capsule. The analysis focuses on regimes of progressive motion arising in the vicinity of parametric resonances. Two asymptotic limits are considered: small-amplitude parametric excitation leading to a (2:1) resonant oscillatory motion of the pendulum, and large-amplitude excitation leading to a (1:1) resonant unidirectional rotational motion of the pendulum. Given the asymmetry of the dissipative force acting on the capsule, both resonant regimes result in a progressive motion of the capsule system. To identify optimal locomotion regimes in both cases, we employ tailored asymptotic approaches based on multi-scale expansions and direct averaging analysis. The resulting slow-flow and averaged-flow models reveal the full bifurcation structure of steady-state solutions associated with forward capsule motion for both low- and high- amplitude excitations. Analytical predictions are shown to be in good agreement with direct numerical simulations of the full capsule-pendulum system.

math.DS↗

arXiv2025

Dynamics and multi-stability of a rotor-actuated Twistcar robot with passive steering joint

The nonlinear dynamics of many under-actuated wheeled platforms are governed by nonholonomic constraints of no-skid for passively rolling wheels, coupled with momentum balance. In most of theoretical models, the shape variables, i.e. joint angles, are directly prescribed as periodic inputs, such as steering angle of the Twistcar. In this work, we study a variant of the Twistcar model where the actuation input is periodic oscillations of an inertial rotor attached to the main body, while the steering joint is passively free to rotate. Remarkably, the dynamics of this model is extremely rich, and includes multiplicity of periodic solutions, both symmetric and asymmetric, as well as stability transitions and bifurcations. We conduct numerical simulations as well as asymptotic analysis of the vehicle's reduced equations of motion. We use perturbation expansion in order to obtain leading-order dynamics under symmetric periodic solution. Then, we utilize harmonic balance and further scaling assumptions in order to approximate the conditions for symmetry-breaking pitchfork bifurcation and stability transition of the symmetric periodic solution, as a function of actuation frequency and structural parameters. The asymptotic results show good agreement with numerical simulations. The results highlight the role of passive shape variables in generating multi-stable periodic solutions for nonholonomic systems of robotic locomotion.

cs.RO↗

arXiv2025

Magnetic control of metafluids for fluid-like applications of metamaterials

Metamaterials are structures composed of repeating unit-cells which enable macro-scale properties not found in nature. Since metamaterials are typically solid structures with predetermined interconnections, it is challenging to leverage their unique properties for many critical applications that require fluid-like behavior, such as heat engines or cooling cycles. Recent research suggested overcoming this limitation by creating a mechanical metafluid', which is a lubricated suspension of multistable unit-cells. However, realization of this concept necessitates the ability to control both velocity and state of the metafluid. Here, we propose the use of time-varying magnetic fields as a mechanism to manipulate metafluids. We focus on a lattice of magnetic multistable capsules enclosing gas and suspended within a liquid-filled tube. We derive the governing equations and examine one-dimensional fluid mechanics of the metafluid, both theoretically and experimentally, at the viscous limit under magnetic actuation. By applying time-varying magnetic fields, we control both the local compression and expansion of the capsules, as well as the entire flow field. Our theoretical results are compared with experimental data, showing good agreement. This work paves the way for the utilization of mechanical metamaterials to applications that require fluid-like behavior, thus extending the scope of metamaterial applications.

physics.flu-dyn↗

arXiv2024

Dynamics of Purcell-type microswimmers with active-elastic joints

Purcell's planar three-link microswimmer is a classic model of swimming in low-Reynolds-number fluid, inspired by motion of flagellated microorganisms. Many works analyzed this model, assuming that the two joint angles are directly prescribed in phase-shifted periodic inputs. In this work, we study a more realistic scenario by considering an extension of this model which accounts for joints' elasticity and mechanical actuation of periodic torques, so that the joint angles are dynamically evolving. Numerical analysis of the swimmer's dynamics reveals multiplicity of periodic solutions, depending on parameters of the inputs - frequency and amplitude of excitation, joints' stiffness ratio, as well as joint's activation. We numerically study swimming direction reversal, as well as bifurcations, stability transitions, and symmetry breaking of the periodic solutions, which represent the effect of buckling instability observed in swimming microorganisms. The results demonstrate that this variant of Purcell's simple model displays rich nonlinear dynamic behavior with actuated-elastic joints. Similar results are also obtained when studying an extended model of a six-link microswimmer.

physics.flu-dyn↗

arXiv2023

Growing structure based on viscous actuation of constrained multistable elements

Growing soft materials which follow a 3D path in space are critical to applications such as search and rescue and minimally invasive surgery. Here, we present a concept for a single-input growing multi-stable soft material, based on a constrained straw-like structure. This class of materials are capable of maneuvering and transforming their configuration by elongation while executing multiple turns. This is achieved by sequenced actuation of bi-stable frusta with predefined constraints. Internal viscous flow and variations in the stability threshold of the individual cells enable sequencing and control of the robot's movement so as to follow a desired 3D path as the structure grows. We derive a theoretical description of the shape and dynamics resulting from a particular set of constraints. To validate the model and demonstrate the suggested concept, we present experiments of maneuvering in models of residential and biological environments. In addition to performing complex 3D maneuvers, the tubular structure of these robots may also be used as a conduit to reach inaccessible regions, which is demonstrated experimentally.

cond-mat.soft↗

arXiv2018

Connecting monotonic and oscillatory motions of the meniscus of a volatile polymer solution to the transport of polymer coils and deposit morphology

We study the connection between the polymer deposition patterns to appear following the evaporation of a solution of poly-methyl-methacrylate (PMMA) in toluene, the transport of the polymer coils in the solution, and the motion of the meniscus of the solution. Different deposition patterns are observed when varying the molecular mass and initial concentration of the solute and temperature and are systematically presented in the form of morphological phase diagrams. The modi of deposition and meniscus motion are correlated. They vary with the ratio between the evaporation-driven convective flux and diffusive flux of the polymer coils in the solution. In the case of a diffusion-dominated solute transport, the solution monotonically dewets the solid substrate by evaporation, supporting continuous contact line motion and continuous polymer deposition. However, a convection-dominated transport results in an oscillatory ratcheting dewetting-wetting motion of the contact line with more pronounced dewetting phases. The deposition process is then periodic and produces a stripe pattern. The oscillatory motion of the meniscus differs from the well documented stick-slip motion of the meniscus, observed as well, and is attributed to the opposing influences of evaporation and Marangoni stresses, which alternately dominate the deposition process.

cond-mat.soft↗