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翻译The complex 3D geometries of these submillimeter-scale robots originate from planar (2D) multilayer assemblies formed with deposition and patterning techniques used in the semiconductor industry. Figure 1 (A and B) illustrates the process of transformation that converts these 2D precursors into 3D shapes for the case of a design inspired by the geometry of a peekytoe crab (Cancer irroratus) but engineered to a much smaller dimensions (~1/150 of the actual size; fig. S1). The precursors incorporate layers of SMA (nitinol; 2.5 m in thickness) as a collection of dynamic mechanical joints for locomotion, a film of polyimide (PI; ~8 m in thickness) as a static skeleton for structural support, and pads of silicon dioxide (SiO2; 100 nm in thickness) as bonding sites in the 2D to 3D transformation process (left frames in Fig. 1, A and B). This process begins with transfer printing to deliver these 2D precursors onto the surface of a prestretched silicone elastomer (Dragon Skin 10 Slow, ~500 m in thickness) that supports structures of polydimethylsiloxane (PDMS; blocks) located near the claws and back legs (middle frame in Fig. 1B). Releasing the prestrain imposes compressive stresses at the bonding sites, with forces sufficient to convert the 2D structures into 3D architectures via a set of controlled bending/ twisting deformations and translational/rotational motions (31, 32). During this process, the distance between the two PDMS blocks also decreases, thereby deforming the claws and back legs. This transformation involves peak strains (<4%) that lie below the maximum phase transition strain of the SMA (right frame in Fig. 1B).
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