Nonlinear soliton spiral induces coupled multimode dynamics in multi-stable dissipative metamaterials

Abstract

With the robust and self-trapped properties, recent advances about soliton dynamics in multi-stable mechanical metamaterials have led to many innovative techniques from signal processing to robotics. This work proposes a multi-stable mechanical metamaterial driven by nonlinear dissipative solitons, in which the coupling and decoupling of multiple locomotion modes can be achieved. Based on a cylinder network with asymmetric energy landscape, the uniform field model of Landau theory is developed. During the theoretical calculation, the analytical solutions of several dissipative solitons are derived, which allow multiple special behaviors of solitary waves, such as wave velocity gaps, directional propagation and spiral phase transition. By incorporating such effects into robotic designs, a variety of complex movements can be achieved by a single structure, including hopping, rolling, rotating, swinging, bending and translational components. In particular, as excitation positions change, the mechanical metamaterial can flexibly switch multiple locomotion modes without changing configurations, e.g., spinning and spin-less, straight and oblique as well as coupled multimode movements. This work wishes to provide some new inspirations for the applications of nonlinear elastic wave metamaterials and phase transition theory in robotics.