Popcorn-Driven Robotic Actuators

摘要

Popcorn kernels are a natural, edible, and inexpensive material that has the potential to rapidly expand with high force upon application of heat. Although this transition is irreversible, it carries potential for several robotic applications. Here, we examine relevant characteristics of three types of kernels including expansion ratio, transition temperature, popping force, compression strength, and biodegradability. We test the viability of popping by hot oil, hot air, microwaves, and direct contact with heated Nichrome wire. As kernels can change from regular to (larger) irregular shapes, we examine the change in inter-granular friction and propose their use as granular fluids in jamming actuators, without the need for a vacuum pump. Furthermore, as a proof-of-concept, we also demonstrate the use of popcorn-driven actuation in soft, compliant, and rigid-link grippers. Serving as a first introduction of popcorn into robotics, we hope this paper will inspire novel mechanisms for multi-functional designs.