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We have designed and tested experimentally a morphing structure consisting ofa neutrally stable thin cylindrical shell driven by a multiparameterpiezoelectric actuation. The shell is obtained by plastically deforming aninitially flat copper disk, so as to induce large isotropic and almost uniforminelastic curvatures. Following the plastic deformation, in a perfectlyisotropic system, the shell is theoretically neutrally stable, owning acontinuous manifold of stable cylindrical shapes corresponding to the rotationof the axis of maximal curvature. Small imperfections render the actualstructure bistable, giving preferred orientations. A three-parameterpiezoelectric actuation, exerted through micro-fiber-composite actuators,allows us to add a small perturbation to the plastic inelastic curvature and tocontrol the direction of maximal curvature. This actuation law is designedthrough a geometrical analogy based on a fully non-linear inextensibleuniform-curvature shell model. We report on the fabrication, identification,and experimental testing of a prototype and demonstrate the effectiveness ofthe piezoelectric actuators in controlling its shape. The resulting motion isan apparent rotation of the shell, controlled by the voltages as in a"gear-less motor", which is, in reality, a precession of the axis of principalcurvature.

Multiparameter actuation of a neutrally-stable shell: a flexible gear-less motor