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翻译This SiO2 shell is a key component in the mechanism for reversible actuation, as illustrated by finite element analysis (FEA) in Fig. 1C. An increase in temperature transforms the SMA (nitinol) from the martensitic to the austenitic phase, causing the 3D structure to flatten into a 2D shape. The responses of the SMA elements at the joints act as driving forces to deform the PI skeleton. This process also elastically deforms the SiO2 shell, resulting in a counter force that limits the magnitude of the deformation. The change in shape ceases when the forces from the shell balance those from the joints (right frame in Fig. 1C). Upon a reduction in temperature, the SMA changes from the austenitic back to the martensitic phase, thereby reducing the force produced by the SMA at the joints to zero. The elastic forces associated with the shell then push the entire system back to the original 3D geometry (left frame in Fig. 1C). Figure S3A simulates the moments generated by the SMA and the SiO2 shell. In the FEA model, the SiO2 shell appears on both the outer and inner surfaces of the 3D robot, consistent with experiments (fig. S3B). Although a single layer of the SiO2 shell at the outer or inner surface can also provide restoring force, the double-layer shell structure follows naturally from the conformal deposition process. This actuation scheme allows for reversible shape transformations using a one-way shape memory material. Without the shell, the structure only supports a single change in shape, from 3D to 2D, as illustrated in fig. S3C. Figure 1D shows optical images of a freestanding 3D peekytoe crab on the edge of a coin, highlighting the preserved 3D geometry enabled by the SiO2 shell after release from the elastomer substrate. Other 3D structures in geometries that resemble baskets, circular helices, and double-floor helices also exhibit high shape storage ratios (>85%) after cycles of heating and cooling (fig. S4). This ratio (s) is defined as s = 1 − |L1 − L0|/L0 × 100%, where L0 and L1 are the distances between the bonding sites at both ends at the initial stage and subsequent stages, respectively
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