Four-dimensional (4D) printing technology provides new ideas for the preparation and structural design of multifunctional shape memory composites. Excellent electrothermal shape memory behavior and high shape recovery force are urgently demanded in practical applications. Herein, a continuous carbon fiber reinforced polylactic acid shape memory composite with high strength, high shape recovery force, low-voltage response and excellent electrothermal shape memory behavior was printed using a dual nozzle 3D printer. The effects of specimen thickness, carbon fiber content, and applied voltage on the electrothermal shape memory behavior and shape recovery force were investigated. The reinforcing effect of carbon fiber on 4D printed composite materials was characterized by dynamic mechanical analysis and 3-point bending test. Under electrical thermal stimulation, the shape recovery ratio of most specimens can reach 90%. The shape recovery force of different specimens was obtained by self-designed shape recovery force test system, and the maximum shape recovery force was about 7.38 N. The results show that the introduction of continuous carbon fiber not only significantly enhances the strength of 4D printed composite, but also improves the shape recovery force. The demonstrations of an electrothermal response shape memory deployable claw-device and load-bearing lifting device manifest the potential application in self-actuated intelligent structures.

四维（4D）打印技术为多功能形状记忆复合材料的制备和结构设计提供了新思路。在实际应用中迫切需要优异的电热形状记忆行为和高形状恢复力。在此，采用双喷嘴 3D 打印机打印出一种具有高强度、高形状恢复力、低电压响应和优异电热形状记忆行为的连续碳纤维增强聚乳酸形状记忆复合材料。研究了试样厚度、碳纤维含量和施加电压对电热形状记忆行为和形状恢复力的影响。通过动态力学分析和3点弯曲试验表征了碳纤维对4D打印复合材料的增强作用。在电热刺激下，大多数试样的形状恢复率可达90%。通过自行设计的形状恢复力测试系统得到不同试样的形状恢复力，最大形状恢复力约为7.38 N。结果表明连续碳纤维的引入不仅显着提高了4D打印复合材料的强度，而且还提高了形状恢复力。电热响应形状记忆可展开爪装置和承重升降装置的演示展示了在自驱动智能结构中的潜在应用。最大形状恢复力约为7.38 N。结果表明，连续碳纤维的引入不仅显着增强了4D打印复合材料的强度，而且提高了形状恢复力。电热响应形状记忆可展开爪装置和承重升降装置的演示展示了在自驱动智能结构中的潜在应用。最大形状恢复力约为7.38 N。结果表明，连续碳纤维的引入不仅显着增强了4D打印复合材料的强度，而且提高了形状恢复力。电热响应形状记忆可展开爪装置和承重升降装置的演示展示了在自驱动智能结构中的潜在应用。