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Effect of temperature on the programmable helical deformation of a reconfigurable anisotropic soft actuator
International Journal of Solids and Structures ( IF 3.6 ) Pub Date : 2020-08-01 , DOI: 10.1016/j.ijsolstr.2020.04.028
Dong Wang , Ling Li , Biao Zhang , Yuan-Fang Zhang , Mao See Wu , Guoying Gu , Qi Ge

Abstract Shape reconfiguration is ubiquitous in nature and widely used in many applications such as soft robotics, metamaterials, energy absorption and tissue engineering. Shape reconfigurable soft actuators, due to their ability to adapt and adjust in complex and unpredictable working environment, have been designed by the use of various delicate structures and active materials. However, soft actuators that exhibit reconfigurable helical deformation have not been proposed; they have the advantage of integrating both bending and twisting actuations in one deformation mode. In this work, we present a thermal-induced shape reconfigurable soft actuator that shows reversible actuations with vastly shape differences under thermal stimulus. It exhibits helical deformation at lower temperature and mainly in-plane bending at relatively higher temperature. The reversible shape transition is controlled by a thermal stimulus that changes the anisotropy of the structure, which consists of shape memory polymer fibers embedded in a homogeneous elastic matrix. A theoretical model is proposed based on the minimum potential energy that incorporates the thermomechanical behavior of the shape memory polymer fibers. Experiments are conducted and the results agree well with the theoretical modeling. Using the theoretical model, we establish design principles for reconfigurable soft actuators whose functional response is programmable given the architecture and external stimulus. A six-handed helical soft actuator, constructed to demonstrate its programmable deformation, is utilized to catch a living fish in water.

中文翻译:

温度对可重构各向异性软执行器可编程螺旋变形的影响

摘要 形状重构在自然界中无处不在,广泛应用于软机器人、超材料、能量吸收和组织工程等领域。形状可重构软执行器由于能够在复杂和不可预测的工作环境中适应和调整,已通过使用各种精密结构和活性材料设计而成。然而,还没有提出表现出可重构螺旋形变形的软致动器。它们的优点是在一种变形模式中集成了弯曲和扭曲驱动。在这项工作中,我们提出了一种热诱导形状可重构软执行器,它在热刺激下显示出具有巨大形状差异的可逆驱动。它在较低温度下表现出螺旋形变形,在相对较高温度下主要是面内弯曲。可逆的形状转变由改变结构各向异性的热刺激控制,该结构由嵌入均匀弹性基质中的形状记忆聚合物纤维组成。基于最小势能提出了一种理论模型,该模型结合了形状记忆聚合物纤维的热机械行为。进行了实验并且结果与理论模型非常吻合。使用理论模型,我们建立了可重构软执行器的设计原则,其功能响应在给定架构和外部刺激的情况下是可编程的。一个六手螺旋软致动器,构造来展示其可编程变形,用于在水中捕捉活鱼。
更新日期:2020-08-01
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