基于不同压电材料作动机制的压电层厚度研究

研究了压电材料复合板的3种作动机制,弯曲作动机制、剪切作动机制、混合作动机制,针对粘贴在纤维板上不同厚度的压电作动层,具体分析了复合板的端部位移,研究结果对噪声和振动的主动控制中的模态控制和智能结构静态形状控制提供了一定的参考。     

Remotely Light‐Powered Soft Fluidic Actuators Based on Plasmonic‐Driven Phase Transitions in Elastic Constraint

Materials capable of actuation through remote stimuli are crucial for untethering soft robotic systems from hardware for powering and control. Fluidic actuation is one of the most applied and versatile actuation strategies in soft robotics. Here, the first macroscale soft fluidic actuator is derived that operates remotely powered and controlled by light through a plasmonically induced phase transition in an elastomeric constraint. A multiphase assembly of a liquid layer of concentrated gold nanoparticles in a silicone or styrene–ethylene–butylene–styrene elastic pocket forms the actuator. Upon laser excitation, the nanoparticles convert light of specific wavelength into heat and initiate a liquid‐to‐gas phase transition. The related pressure increase inflates the elastomers in response to laser wavelength, intensity, direction, and on–off pulses. During laser‐off periods, heating halts and condensation of the gas phase renders the actuation reversible. The versatile multiphase materials actuate—like soft “steam engines”—a variety of soft robotic structures (soft valve, pnue‐net structure, crawling robot, pump) and are capable of operating in different environments (air, water, biological tissue) in a single configuration. Tailored toward the near‐infrared window of biological tissue, the structures actuate also through animal tissue for potential medical soft robotic applications.     

Direct Fused Deposition Modeling 4D Printing and Programming of Thermoresponsive Shape Memory Polymers with Autonomous 2D-to-3D Shape Transformations

Herein, direct 4D printing of thermoresponsive shape memory polymers (SMPs) by the fused deposition modeling (FDM) method that enables programing of 2D objects during printing for autonomous 2D-to-3D shape transformations via simply heating is focused on. The programming process during printing is investigated through designs and experiments. The capability of programming SMPs during printing is illustrated by prestrain and bending capabilities, which are highly related to printing settings, such as nozzle temperature, print speed, layer height, infill patterns, and ratio of active parts in a bilayer structure. A nearly linear relationship for prestrain and bending parameters is experimentally revealed for different printing factors. Quantitative results are presented to be used as a guidance for designing complex 3D structures via 4D printing of 2D structures. Helix structure, twisting structure, DNA-like structures, and functional gripper are designed to demonstrate the potential of direct FDM 4D printing for creating complex 3D structures from simple 2D structures with advantages over traditional manufacturing methods. It is shown that, by removing the need for a layer-by-layer stacking process to achieve a complex 3D shape, FDM can promote sustainability via 4D printing of autonomous 2D-to-3D shape transformer structures with lower materials, time, energy, and longer service life.     

Synergistic effect of siloxane modified aluminum nanopowders and carbon fiber on electrothermal efficiency of polymeric shape memory nanocomposite

The present study reports an effective approach of significantly enhancing electrothermal efficiency and shape recovery performance of shape memory polymer (SMP) nanocomposite, of which shape recovery was induced by electrically resistive heating. Metallic aluminum (Al) nanopowders synthesized from Al³⁺ solution were chemically grafted onto carbon fiber. Siloxane groups were grafted onto surfaces of the Al nanopowders to enhance the interfacial bonding between the carbon fiber and SMP matrix via van der Waals force and covalent bond, respectively. The siloxane modified Al surfaces could improve both the electrically induced shape recovery performance and electrothermal efficiency through facilitating the electrically resistive heating from carbon fiber into the SMP matrix. Effectiveness of the synergistic effect between siloxane modified Al surface and carbon fiber was demonstrated to achieve the electrical actuation for SMP nanocomposites at a low electrical voltage below 4.0 V.     

TiNi形状记忆合金的工程应用研究现状和展望

综合评述了TiNi形状记忆合金的特性及其在工程结构方面的应用研究进展.着重介绍了TiNi合金形状记忆效应和超弹性的特点及其工程意义,论述了TiNi合金在用于制作驱动器、控制结构变形和开裂、结构振动主动和被动控制以及在耐磨损、抗冲击方面的应用研究现状,并就该研究领域的发展方向提出了一些建议.     

Experimental investigation on the piezo-composite actuator with piezoelectric single-crystal layer

Studies on muscle mimicking actuators have increased in the last two decades due to the possibility of various applications for compact lightweight actuators including small unmanned aircrafts, missile, and biomimetic robots. Piezoelectric materials have been used in a variety of applications ranging from shape control of structure and active vibration control of structure to noise suppression due to compact size and good frequency response. Conventional polycrystal piezoelectric ceramic materials, however, have limited actuating strains and displacement, hindering their use in actuators for small aerospace vehicles. In this study, the design and fabrication method of an actuator with a piezoelectric single-crystal layer were investigated to increase the actuation strain and displacement. From a comparison of the performance of the LIPCA-C2 and LIPCA-S prototypes, it was found that the new LIPCA-S2, which has much higher coefficient of the unimorph actuator, can generate an actuating displacement more than twice that of LIPCA-C2.     

Modulated interaction in double-layer shape memory-based micro-designed actuators

The effect of superposed transitions in actuators with layered shape memory alloy (SMA) films undergoing martensitic phase transformation is analyzed in terms of a model developed for two layers of different composition, deposited at the same temperature on a substrate. A significant difference is observed in the actuation versus temperature relationship, depending on the thermal and elastic properties of the SMA layers and their martensitic transformation temperature. The prediction of the actuation is exemplified using a multilayer model and is verified for a cantilever actuator with NiTi and NiMnGa layers deposited on a Si substrate. The model sets the ground for a smart selection of SMAs in order to achieve a modulated actuation.     

Magnetic Shape Memory Polymers with Integrated Multifunctional Shape Manipulation

Shape-programmable soft materials that exhibit integrated multifunctional shape manipulations, including reprogrammable, untethered, fast, and reversible shape transformation and locking, are highly desirable for a plethora of applications, including soft robotics, morphing structures, and biomedical devices. Despite recent progress, it remains challenging to achieve multiple shape manipulations in one material system. Here, a novel magnetic shape memory polymer composite is reported to achieve this. The composite consists of two types of magnetic particles in an amorphous shape memory polymer matrix. The matrix softens via magnetic inductive heating of low-coercivity particles, and high-remanence particles with reprogrammable magnetization profiles drive the rapid and reversible shape change under actuation magnetic fields. Once cooled, the actuated shape can be locked. Additionally, varying the particle loadings for heating enables sequential actuation. The integrated multifunctional shape manipulations are further exploited for applications including soft magnetic grippers with large grabbing force, reconfigurable antennas, and sequential logic for computing.     

Modulated interaction in double-layer shape memory-based micro-designed actuators

Abstract

The effect of superposed transitions in actuators with layered shape memory alloy (SMA) films undergoing martensitic phase transformation is analyzed in terms of a model developed for two layers of different composition, deposited at the same temperature on a substrate. A significant difference is observed in the actuation versus temperature relationship, depending on the thermal and elastic properties of the SMA layers and their martensitic transformation temperature. The prediction of the actuation is exemplified using a multilayer model and is verified for a cantilever actuator with NiTi and NiMnGa layers deposited on a Si substrate. The model sets the ground for a smart selection of SMAs in order to achieve a modulated actuation.     

Analytical modelling of the electromechanical behaviour of surface-bonded piezoelectric actuators including the adhesive layer

The behaviour of a piezoelectric actuator is strongly affected by the bonding condition along the interface between the actuator and the host structure. The current paper represents an analytical study of the static effect of the mechanical and geometrical properties of the adhesive layer on the coupled electromechanical behaviour of a thin piezoceramic actuator bonded to an elastic medium. An actuator model with an imperfect adhesive bonding layer, which undergoes a shear deformation, is proposed to simulate the two dimensional electromechanical behaviour of the integrated system. Analytical solution of the problem is provided by solving the resulting integral equations in terms of the interfacial stress. Numerical simulation is conducted to study the effect of the bonding layer upon the actuation process. The effect of interfacial debonding on the response of the layered structure and on the interlaminar strain and stress transfer mechanisms is discussed.     

Proposal of an active composite with embedded sensor

Though advanced composites with embedded actuator materials such as shape memory alloys and piezo ceramics have been developed as active materials, another one by making use of thermal deformation of composites was proposed and an active laminate was prepared as an example by hot-pressing of aluminum plate as material of high coefficient of thermal expansion (CTE), uni-directional carbon fiber reinforced plastics (CFRP) prepreg as low CTE material and electric resistance heater, polymer adhesive film as insulator between them, and copper foils as electrodes. Actuation of this laminate is different from that of bimetal because CTE of the CFRP layer is strongly anisotropic due to directionality of its reinforcement fiber. As CTEs of the CFRP layer and the aluminum plate in the fiber direction are quite different from each other though they are close to each other in the transverse direction, smooth and uni-directional actuation becomes possible. In this study, its fundamental performances such as shape change and output force were observed and evaluated, and after establishment of its fabrication, an optical loss type sensor was formed in the active composite, by embedding multiply pre-notched optical fiber in the CFRP layer and breaking it at the pre-notches under bending, followed by lamination on aluminum plate with adhesive. As the sensing part can be formed inside the matrix without any complicated processes, a robust and low cost sensor is obtained. From the results, it becomes clear that: (1) curvature of the active composite linearly changes as a function of temperature between room temperature and its hot pressing temperature by electric resistance heating of the CFRP layer and cooling, (2) its output force against a fixed punch during heating from room temperature up to around glass transition temperature of the resin phase almost linearly increases with increasing temperature, (3) the multiply pre-notched, embedded and fractured optical fiber works as a sensitive sensor for monitoring the curvature of the active composite.     

Proposal of an active composite with embedded sensor

Though advanced composites with embedded actuator materials such as shape memory alloys and piezo ceramics have been developed as active materials, another one by making use of thermal deformation of composites was proposed and an active laminate was prepared as an example by hot-pressing of aluminum plate as material of high coefficient of thermal expansion (CTE), uni-directional carbon fiber reinforced plastics (CFRP) prepreg as low CTE material and electric resistance heater, polymer adhesive film as insulator between them, and copper foils as electrodes. Actuation of this laminate is different from that of bimetal because CTE of the CFRP layer is strongly anisotropic due to directionality of its reinforcement fiber. As CTEs of the CFRP layer and the aluminum plate in the fiber direction are quite different from each other though they are close to each other in the transverse direction, smooth and uni-directional actuation becomes possible. In this study, its fundamental performances such as shape change and output force were observed and evaluated, and after establishment of its fabrication, an optical loss type sensor was formed in the active composite, by embedding multiply pre-notched optical fiber in the CFRP layer and breaking it at the pre-notches under bending, followed by lamination on aluminum plate with adhesive. As the sensing part can be formed inside the matrix without any complicated processes, a robust and low cost sensor is obtained. From the results, it becomes clear that: (1) curvature of the active composite linearly changes as a function of temperature between room temperature and its hot pressing temperature by electric resistance heating of the CFRP layer and cooling, (2) its output force against a fixed punch during heating from room temperature up to around glass transition temperature of the resin phase almost linearly increases with increasing temperature, (3) the multiply pre-notched, embedded and fractured optical fiber works as a sensitive sensor for monitoring the curvature of the active composite.     

SMA-based smart soft composite structure capable of multiple modes of actuation

This paper introduces the design of a smart soft composite (SSC) actuator capable of multiple modes of actuation. This actuator combines four shape memory alloy (SMA) wires embedded in a soft matrix where one or two SMA wires can be activated to induce the actuator into either the bending mode, the twisting mode or the combined bending and twisting mode of actuation. Experimental results for actuators of different lengths were obtained for all modes of actuation and the actuator is capable of large deformations in all modes and directions of actuation. Then a simple FEA model was used to predict the range of deformation for different lengths in the different modes of actuation. This model is able to predict accurately the bending and twisting angles of the actuator for the different modes of actuation. The 120 mm actuator is capable of deformations up to approximately 160° in both the pure bending and pure twisting modes and of approximately 80° for both twisting and bending in the combined twisting and bending mode of actuation.     

Verification of thermally induced nanometer actuation of magnetic recording transducer to overcome mechanical and magnetic spacing challenges

Protrusion of the recording element during the write process due to Joule heating and eddy-current losses adds a significant constraint in reducing the flying height of sliders found in magnetic recording devices. Variation of the drive temperature also adds similar constraint to the system. One method of overcoming these challenges is to control the relative position of the magnetic recording transducer with respect to the disk surface by thermally heating the transducer region, a concept outlined in a U.S. patent. In this paper, we experimentally show that the thermal actuation concept outlined in the patent can indeed be employed to control the magnetic spacing.     

Biomimetic Locomotion of Electrically Powered “Janus” Soft Robots Using a Liquid Crystal Polymer

Oriented liquid crystal networks (LCNs) can undergo reversible shape change at the macroscopic scale upon an order–disorder phase transition of the mesogens. This property is explored for developing soft robots that can move under external stimuli, such as light in most studies. Herein, electrically driven soft robots capable of executing various types of biomimetic locomotion are reported. The soft robots are composed of a uniaxially oriented LCN strip, a laminated Kapton layer, and thin resistive wires embedded in between. Taking advantage of the combined attributes of the actuator, namely, easy processing, reprogrammability, and reversible shape shift between two 3D shapes at electric power on and off state, the concept of a “Janus” soft robot is demonstrated, which is built from a single piece of the material and has two parts undergoing opposite deformations simultaneously under a uniform stimulation. In addition to complex shape morphing such as the movement of oarfish and sophisticated devices like self‐locking grippers, electrically powered “Janus” soft robots can accomplish versatile locomotion modes, including crawling on flat surfaces through body arching up and straightening down, crawling inside tubes through body stretching and contraction, walking like four‐leg animals, and human‐like two‐leg walking while pushing a load forward.     

空间薄膜反射镜主动面形控制研究进展

空间薄膜反射镜由于其具有极低的面密度,极高的体积包装效率、低的制造成本等优点,在未来大口径空间光学系统中具有广泛的应用前景.主动面形控制是薄膜反射镜的关键技术之一.按作动器作动的位置不同,对主动面形控制进行了分类,分析了各种作动器的特点,从数学建模和试验验证两个方面对边界作动的主动面形控制和面内作动的主动面形控制的研究进展进行了综述,重点评述了面形控制的理论模拟方法、已有的面形控制试验设备及所验证的内容,最后对主动面形控制的研究方向进行了展望.     

Carbon Nanotube and Graphene‐based Bioinspired Electrochemical Actuators

Bio‐inspired actuation materials, also called artificial muscles, have attracted great attention in recent decades for their potential application in intelligent robots, biomedical devices, and micro‐electro‐mechanical systems. Among them, ionic polymer metal composite (IPMC) actuator has been intensively studied for their impressive high‐strain under low voltage stimulation and air‐working capability. A typical IPMC actuator is composed of one ion‐conductive electrolyte membrane laminated by two electron‐conductive metal electrode membranes, which can bend back and forth due to the electrode expansion and contraction induced by ion motion under alternating applied voltage. As its actuation performance is mainly dominated by electrochemical and electromechanical process of the electrode layer, the electrode material and structure become to be more crucial to higher performance. The recent discovery of one dimensional carbon nanotube and two dimensional graphene has created a revolution in functional nanomaterials. Their unique structures render them intriguing electrical and mechanical properties, which makes them ideal flexible electrode materials for IPMC actuators in stead of conventional metal electrodes. Currently although the detailed effect caused by those carbon nanomaterial electrodes is not very clear, the presented outstanding actuation performance gives us tremendous motivation to meet the challenge in understanding the mechanism and thus developing more advanced actuator materials. Therefore, in this review IPMC actuators prepared with different kinds of carbon nanomaterials based electrodes or electrolytes are addressed. Key parameters which may generate important influence on actuation process are discussed in order to shed light on possible future research and application of the novel carbon nanomateials based bio‐inspired electrochemical actuators.     

Boundary layer in shape optimization of convective fins using a meshfree approach

We show how shape optimization of fin arrays for increased heat flux through the base under area constraint leads to non‐existence of optimal solutions. An additional constraint in terms of the boundary layer eliminates the apparent paradox. We consider a variable heat transfer coefficient and we use a fixed‐point iteration scheme to solve the resulting non‐linear boundary value problem for the steady‐state heat operator with temperature, flux, and convection boundary conditions. We propose a simple yet effective algorithm for evaluating the boundary layer constraint and eliminating the constraint violation. There are large shape changes between the initial and final design but no remeshing is required because we use a meshfree method that is not sensitive to shape distortion of integration cells as long as they remain convex. The resulting optimal unit cell is repeated by periodicity to produce the optimal fin array. The obtained shapes display similarities to shapes seen in natural systems governed by diffusion/convection and conduction processes. A length‐scale for the unit cell is naturally introduced by the non‐overlap condition imposed on the thermal boundary layer in the cooling ambient fluid. Copyright © 2004 John Wiley & Sons, Ltd.     

Shape Memory Alloy (SMA)‐Based Microscale Actuators with 60% Deformation Rate and 1.6 kHz Actuation Speed

Shape memory alloys (SMAs) are widely utilized as an actuation source in microscale devices, since they have a simple actuation mechanism and high‐power density. However, they have limitations in terms of strain range and actuation speed. High‐speed microscale SMA actuators are developed having diamond‐shaped frame structures with a diameter of 25 µm. These structures allow for a large elongation range compared with bulk SMA materials, with the aid of spring‐like behavior under tensile deformation. These actuators are validated in terms of their applicability as an artificial muscle in microscale by investigating their behavior under mechanical deformation and changes in thermal conditions. The shape memory effect is triggered by delivering thermal energy with a laser. The fast heating and cooling phenomenon caused by the scale effect allows high‐speed actuation up to 1600 Hz. It is expected that the proposed actuators will contribute to the development of soft robots and biomedical devices.     

主动杆系结构的模态性质分析

对主动杆系结构进行模态分析,指出主动杆系结构有左右模态振型之分,不同阶的左右模态振型关于结构系统加权正交;解释了左右模态振型不同的物理意义:右模态振型是主动结构系统真正意义上的振型;而左模态振型是主动结构系统的转置系统振型,它是外界因素对主动结构系统的影响程度,表征的是外界因素的模态分量。主动结构的模态是检验结构性能的主要指标,也是结构设计的目标函数,所以对主动杆系结构模态的分析研究有着很重要的理论和现实意义。最后,用数值算例进一步说明主动杆系结构的模态性质。