arXiv subjects

Christian D. Santangelo

Publications and source records attributed to Christian D. Santangelo.

At least 37 records · Page 2Linked to original sources

arXiv2022

Mechanical signaling cascades

Mechanical computing has seen resurgent interest recently owing to the potential to embed sensing and computation into new classes of programmable metamaterials. To realize this, however, one must push signals from one part of a device to another, and do so in a way that can be reset robustly. We investigate the propagation of signals in a bistable mechanical cascade uphill in energy. By identifying a penetration length for perturbations, we show that signals can propagate uphill for finite distances and map out parameters for this to occur. Experiments on soft elastomers corroborate our results.

cond-mat.soft↗

arXiv2022

Robust Folding of Elastic Origami

Self-folding origami, structures that are engineered flat to fold into targeted, three-dimensional shapes, have many potential engineering applications. Though significant effort in recent years has been devoted to designing fold patterns that can achieve a variety of target shapes, recent work has also made clear that many origami structures exhibit multiple folding pathways, with a proliferation of geometric folding pathways as the origami structure becomes complex. The competition between these pathways can lead to structures that are programmed for one shape, yet fold incorrectly. To disentangle the features that lead to misfolding, we introduce a model of self-folding origami that accounts for the finite stretching rigidity of the origami faces and allows the computation of energy landscapes that lead to misfolding. We find that, in addition to the geometrical features of the origami, the finite elasticity of the nearly-flat origami configurations regulates the proliferation of potential misfolded states through a series of saddle-node bifurcations. We apply our model to one of the most common origami motifs, the symmetric "bird's foot," a single vertex with four folds. We show that though even a small error in programmed fold angles induces metastability in rigid origami, elasticity allows one to tune resilience to misfolding. In a more complex design, the "Randlett flapping bird," which has thousands of potential competing states, we further show that the number of actual observed minima is strongly determined by the structure's elasticity. In general, we show that elastic origami with both stiffer folds and stiffer faces self-folds better.

cond-mat.soft↗

arXiv2021

Energetic rigidity I: A unifying theory of mechanical stability

Rigidity regulates the integrity and function of many physical and biological systems. This is the first of two papers on the origin of rigidity, wherein we propose that "energetic rigidity," in which all non-trivial deformations raise the energy of a structure, is a more useful notion of rigidity in practice than two more commonly used rigidity tests: Maxwell-Calladine constraint counting (first-order rigidity) and second-order rigidity. We find that constraint counting robustly predicts energetic rigidity only when the system has no states of self stress. When the system has states of self stress, we show that second-order rigidity can imply energetic rigidity in systems that are not considered rigid based on constraint counting, and is even more reliable than shear modulus. We also show that there may be systems for which neither first nor second-order rigidity imply energetic rigidity. The formalism of energetic rigidity unifies our understanding of mechanical stability and also suggests new avenues for material design.

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arXiv2021

Energetic rigidity II: Applications in examples of biological and underconstrained materials

This is the second paper devoted to energetic rigidity, in which we apply our formalism to examples in two dimensions: underconstrained random regular spring networks, vertex models, and jammed packings of soft particles. Spring networks and vertex models are both highly underconstrained, and first-order constraint counting does not predict their rigidity, but second-order rigidity does. In contrast, spherical jammed packings are overconstrained and thus first-order rigid, meaning that constraint counting is equivalent to energetic rigidity as long as prestresses in the system are sufficiently small. Aspherical jammed packings on the other hand have been shown to be jammed at hypostaticity, which we use to argue for a modified constraint counting for systems that are energetically rigid at quartic order.

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arXiv2021

Mechanics of metric frustration in contorted filament bundles: From local symmetry to columnar elasticity

Bundles of filaments are subject to geometric frustration: certain deformations (e.g. bending while twisted) require longitudinal variations in spacing between filaments. While bundles are common -- from protein fibers to yarns -- the mechanical consequences of longitudinal frustration are unknown. We derive a geometrically-nonlinear formalism for bundle mechanics, using a gauge-like symmetry under reptations along filament backbones. We relate force balance to orientational geometry and assess the elastic cost of frustration in twisted toroidal bundles.

cond-mat.soft↗

arXiv2021

Topology in non-linear mechanical systems

Many advancements have been made in the field of topological mechanics. The majority of the works, however, concerns the topological invariant in a linear theory. We, in this work, present a generic prescription of defining topological indices which accommodates non-linear effects in mechanical systems without taking any approximation. Invoking the tools of differential geometry, a Z-valued quantity in terms of the Poincare-Hopf index, that features the topological invariant of non-linear zero modes (ZMs), is predicted. We further identify one type of topologically protected solitons that are robust to disorders. Our prescription constitutes a new direction of searching for novel topologically protected non-linear ZMs in the future.

cond-mat.soft↗

arXiv2019

Constant spacing in filament bundles

Assemblies of filaments appear in a wide range of systems: from biopolymer bundles, columnar liquid crystals, and superconductor vortex arrays; to familiar macroscopic materials, like ropes, cables and textiles. Interactions between the constituent filaments in such systems are most sensitive to the {\it distance of closest approach} between the central curves which approximate their configuration, subjecting these distinct assemblies to common geometric constraints. In this paper, we consider two distinct notions of constant spacing in multi-filament packings in $\mathbb{R}^3$: {\it equidistance}, where the distance of closest approach is constant along the length of filament pairs; and {\it isometry}, where the distances of closest approach between all neighboring filaments are constant and equal. We show that, although any smooth curve in $\mathbb{R}^3$ permits one dimensional families of collinear equidistant curves belonging to a ruled surface, there are only two families of tangent fields with mutually equidistant integral curves in $\mathbb{R}^3$. The relative shapes and configurations of curves in these families are highly constrained: they must be either (isometric) developable domains, which can bend, but not twist; or (non-isometric) constant-pitch helical bundles, which can twist, but not bend. Thus, simultaneously bent and twisted filament textures, such as twisted toroids of condensed DNA plasmids or wire ropes, are doubly frustrated: twist frustrates constant neighbor spacing in the cross-section, while non-equidistance requires longitudinal variations of inter-filament spacing. To illustrate the consequences of the failure of equidistance, we compare spacing in three "almost equidistant" ansatzes for twisted toroidal bundles and use our formulation of equidistance to construct upper bounds on the growth of longitudinal variations of spacing with bundle thickness.

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arXiv2018

Overcurvature induced multistability of linked conical frusta: How a `bendy straw' holds its shape

We study the origins of multiple mechanically stable states exhibited by an elastic shell comprising multiple conical frusta, a geometry common to reconfigurable corrugated structures such as `bendy straws'. This multistability is characterized by mechanical stability of axially extended and collapsed states, as well as a partially inverted `bent' state that exhibits stability in any azimuthal direction. To understand the origin of this behavior, we study how geometry and internal stress affect the stability of linked conical frusta. We find that tuning geometrical parameters such as the frustum heights and cone angles can provide axial bistability, whereas stability in the bent state requires a sufficient amount of internal pre-stress, resulting from a mismatch between the natural and geometric curvatures of the shell. We analyze the latter effect through curvature analysis during deformation using X-ray computed tomography (CT), and with a simple mechanical model that captures the qualitative behavior of these highly reconfigurable systems.

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arXiv2017

Branches of triangulated origami near the unfolded state

Origami structures are characterized by a network of folds and vertices joining unbendable plates. For applications to mechanical design and self-folding structures, it is essential to understand the interplay between the set of folds in the unfolded origami and the possible 3D folded configurations. When deforming a structure that has been folded, one can often linearize the geometric constraints, but the degeneracy of the unfolded state makes a linear approach impossible there. We derive a theory for the second-order infinitesimal rigidity of an initially unfolded triangulated origami structure and use it to study the set of nearly-unfolded configurations of origami with four boundary vertices. We find that locally, this set consists of a number of distinct "branches" which intersect at the unfolded state, and that the number of these branches is exponential in the number of vertices. We find numerical and analytical evidence that suggests that the branches are characterized by choosing each internal vertex to either "pop up" or "pop down". The large number of pathways along which one can fold an initially-unfolded origami structure strongly indicate that a generic structure is likely to become trapped in a "misfolded" state. Thus, new techniques for creating self-folding origami are likely necessary; controlling the popping state of the vertices may be one possibility.

cond-mat.soft↗

arXiv2017

Sub-Jamming Transition in Binary Sphere Mixtures

We study the influence of particle size asymmetry on structural evolution of randomly jammed binary sphere mixtures with varying large-sphere/small-sphere composition. Simulations of jammed packings are used to assess the transition from large-sphere dominant to small-sphere dominant mixtures. For weakly asymmetric particle sizes, packing properties evolve smoothly, but not monotonically, with increasing small sphere composition, $f$. Our simulations reveal that at high values of ratio $α$ of large to small sphere radii, ($α\geq α_c \approx 5.75$) evolution of structural properties such as packing density, fraction of jammed spheres and contact statistics with $f$ exhibit features that suggest a sharp transition, either through discontinuities in structural measures or their derivatives. We argue that this behavior is related to the singular, composition dependence of close-packing fraction predicted in infinite aspect ratio mixtures $α\rightarrow\infty$ by the Furnas model, but occurring for finite values range of $α$ above a critical value, $α_c \approx 5.75$. The existence of a sharp transition from small- to large-$f$ values for $α\geq α_c$ can be attributed to the existence of a {\it sub-jamming transition} of small spheres in the interstices of jammed large spheres along the line of compositions $f_{sub}(α)$. We argue that the critical value of finite size asymmetry $α_c \simeq 5.75$ is consistent with the geometric criterion for the transmission of small sphere contacts between neighboring tetrahedrally close packed interstices of large spheres, facilitating a cooperative sub-jamming transition of small spheres confined within the disjoint volumes.

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arXiv2017

Sculpting the Vertex: Manipulating the Configuration Space Topography and Topology of Origami Vertices to Design Mechanical Robustness

The geometric, aesthetic, and mathematical elegance of origami is being recognized as a powerful pathway to self-assembly of micro and nano-scale machines with programmable mechanical properties. The typical approach to designing the mechanical response of an ideal origami machine is to include mechanisms where mechanical constraints transform applied forces into a desired motion along a narrow set of degrees of freedom. In fact, to date, most design approaches focus on building up complex mechanisms from simple ones in ways that preserve each individual mechanism's degree of freedom (DOF), with examples ranging from simple robotic arms to homogenous arrays of identical vertices, such as the well-known Miura-ori. However, such approaches typically require tight fabrication tolerances, and often suffer from parasitic compliance. In this work, we demonstrate a technique in which high-degree-of-freedom mechanisms associated with single vertices are heterogeneously combined so that the coupled phase spaces of neighboring vertices are pared down to a controlled range of motions. This approach has the advantage that it produces mechanisms that retain the DOF at each vertex, are robust against fabrication tolerances and parasitic compliance, but nevertheless effectively constrain the range of motion of the entire machine. We demonstrate the utility of this approach by mapping out the configuration space for the modified Miura-ori vertex of degree 6, and show that when strung together, their combined configuration spaces create mechanisms that isolate deformations, constrain the configuration topology of neighboring vertices, or lead to sequential bistable folding throughout the entire origami sheet.

cond-mat.soft↗

arXiv2017

Contractility in an Extensile System

Essentially all biology is active and dynamic. Biological entities autonomously sense, com- pute, and respond using energy-coupled ratchets that can produce force and do work. The cytoskeleton, along with its associated proteins and motors, is a canonical example of biological active matter, which is responsible for cargo transport, cell motility, division, and morphol- ogy. Prior work on cytoskeletal active matter systems showed either extensile or contractile dynamics. Here, we demonstrate a cytoskeletal system that can control the direction of the network dynamics to be either extensile, contractile, or static depending on the concentration of filaments or transient crosslinkers through systematic variation of the crosslinker or micro- tubule concentrations. Based off these new observations and our previously published results, we created a simple one-dimensional model of the interaction of filaments within a bundle. Despite its simplicity, our model recapitulates the observed activities of our experimental sys- tem, implying that the dynamics of our finite networks of bundles are driven by the local filament-filament interactions within the bundle. Finally, we show that contractile phases can result in autonomously motile networks that resemble cells. Our experiments and model allow us to gain a deeper understanding of cytoskeletal dynamics and provide a stepping stone for designing active, autonomous systems that could potentially dynamically switch states.

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arXiv2015

Lattice Mechanics of Origami Tessellations

Origami-based design holds promise for developing materials whose mechanical properties are tuned by crease patterns introduced to thin sheets. Although there has been heuristic developments in constructing patterns with desirable qualities, the bridge between origami and physics has yet to be fully developed. To truly consider origami structures as a class of materials, methods akin to solid mechanics need to be developed to understand their long-wavelength behavior. We introduce here a lattice theory for examining the mechanics of origami tessellations in terms of the topology of their crease pattern and the relationship between the folds at each vertex. This formulation provides a general method for associating mechanical properties with periodic folded structures, and allows for a concrete connection between more conventional materials and the mechanical metamaterials constructed using origami-based design.

cond-mat.soft↗

arXiv2014

Geometrically controlled snapping transitions in shells with curved creases

Curvature and mechanics are intimately connected for thin materials, and this coupling between geometry and physical properties is readily seen in folded structures from intestinal villi and pollen grains, to wrinkled membranes and programmable metamaterials. While the well-known rules and mechanisms behind folding a flat surface have been used to create deployable structures and shape transformable materials, folding of curved shells is still not fundamentally understood. Curved shells naturally deform by simultaneously bending and stretching, and while this coupling gives them great stability for engineering applications, it makes folding a surface of arbitrary curvature a non-trivial task. Here we discuss the geometry of folding a creased shell, and demonstrate theoretically the conditions under which it may fold continuously. When these conditions are violated we show, using experiments and simulations, that shells undergo rapid snapping motion to fold from one stable configuration to another. Although material asymmetry is a proven mechanism for creating this bifurcation of stability, for the case of a creased shell, the inherent geometry itself serves as a barrier to folding. We discuss here how two fundamental geometric concepts, creases and curvature, combine to allow rapid transitions from one stable state to another. Independent of material system and length scale, the design rule that we introduce here explains how to generate snapping transitions in arbitrary surfaces, thus facilitating the creation of programmable multi-stable materials with fast actuation capabilities.

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arXiv2014

Mechanics of large folds in thin interfacial films

A thin film at a liquid interface responds to uniaxial confinement by wrinkling and then by folding; its shape and energy have been computed exactly before self contact. Here, we address the mechanics of large folds, i.e. folds that absorb a length much larger than the wrinkle wavelength. With scaling arguments and numerical simulations, we show that the antisymmetric fold is energetically favorable and can absorb any excess length at zero pressure. Then, motivated by puzzles arising in the comparison of this simple model to experiments on lipid monolayers and capillary rafts, we discuss how to incorporate film weight, self-adhesion and energy dissipation.

cond-mat.soft↗

arXiv2012

The shape and mechanics of curved fold origami structures

We develop recursion equations to describe the three-dimensional shape of a sheet upon which a series of concentric curved folds have been inscribed. In the case of no stretching outside the fold, the three-dimensional shape of a single fold prescribes the shape of the entire origami structure. To better explore these structures, we derive continuum equations, valid in the limit of vanishing spacing between folds, to describe the smooth surface intersecting all the mountain folds. We find that this surface has negative Gaussian curvature with magnitude equal to the square of the fold's torsion. A series of open folds with constant fold angle generate a helicoid.

cond-mat.soft↗

arXiv2012

Nambu-Goldstone modes and diffuse deformations in elastic shells

I consider the shape of a deformed elastic shell. Using the fact that the lowest-energy, small deformations are along infinitesimal isometries of the shell's mid-surface, I describe a class of weakly-stretching deformations for thin shells based on the Nambu-Goldstone modes associated with those isometries. The main result is an effective theory to describe the diffuse deformations of thin shells that incorporate stretching and bending energies. The theory recovers previous results for the propagation of a "pinch" on a cylinder. A cone, on the other hand, has two length scales governing the persistence of a pinch: one governing the relaxation of the pinch that scales with thickness as a -1/2 power, and one that scales with thickness above which deformations again become isometric. These lengths meet at a critical thickness below which low energy deformations again become nearly isometric.

cond-mat.mtrl-sci↗

arXiv2012

Geometric Mechanics of Curved Crease Origami

Folding a sheet of paper along a curve can lead to structures seen in decorative art and utilitarian packing boxes. Here we present a theory for the simplest such structure: an annular circular strip that is folded along a central circular curve to form a three-dimensional buckled structure driven by geometrical frustration. We quantify this shape in terms of the radius of the circle, the dihedral angle of the fold and the mechanical properties of the sheet of paper and the fold itself. When the sheet is isometrically deformed everywhere except along the fold itself, stiff folds result in creases with constant curvature and oscillatory torsion. However, relatively softer folds inherit the broken symmetry of the buckled shape with oscillatory curvature and torsion. Our asymptotic analysis of the isometrically deformed state is corroborated by numerical simulations which allow us to generalize our analysis to study multiply folded structures.

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