Programmable matter: shape programming of 2D physical objects

Imagine that you are at a party. You need some plates, forks and even spoons. The day after you will not need them anymore. Think about the possibility to shape those objects from a block of matter, melt them after use and be able to re-shape them again. That would make the difference in a world crammed with disposable items. That concept is the at the basis of programmable matter. Several attempts, including smart materials, modular reconfigurable robots have been suggested in the recent years. However, these techniques are limited to a set of predefined shapes or in terms of maximum resolution. This work focuses on the shape programming of 2D physical objects through a phase change pumping obtained by peristaltic solid-liquid phase transitions. The suitable materials to undergo this transition are the so-called phase change materials (PCM). The method for achieving phase change pumping includes two different kinds of heating sources: a uniform one, that keeps the material some degrees below its melting temperature, and a local one, provided by a laser unit attached to a 3D printer. A USB microscope and an infrared camera are used to give a visual and thermal feedback of the shape programming. These elements are then integrated in a MATLAB software aimed at controlling the entire process. Through this thesis work, the chance of shape programming of a 2D physical object by phase change pumping is demonstrated for the first time. The resolution of the shape programming is in the order of magnitude of 100 µm and it can proceed in any desired direction, without limitations to predefined states. Moreover, the material can be molten and re-shaped again indefinitely.