Abstract
Designing 4D printed shape memory polymers (SMPs) with mechanical robust and multi-stimulus responses applied in soft robot holds vast promise. While significant progress has been made in this area, implementing SMP composites with multi-stimulus response capabilities for fused filament fabrication (FFF) 4D printing typically sacrifices the inherent mechanical properties of the materials, limiting the requirements for robust and tough applications of SMP in soft robotics. In this work, Fe3O4 nanoparticles are employed as functional particles, and the "hydrogen bonding–metal-phenolic" sacrificial network in the nanoparticles and polymer is designed to achieve NIR light and magnetic stimulation response without sacrificing the maximum strength and toughness of the 4D printable SMP. The SMP nanocomposite developed from the sacrificial network has a tensile strength of 18.98 MPa and an elongation at break of 897 %, a 40 % increase in strength and 196 % increase in elongation at break compared to SMP nanocomposites with direct Fe3O4 addition. In addition, the shape-programmable soft robot with NIR light and magnetic stimulation response is developed based on 4D printing. The remote precision control and drugs release demonstrates the potential application of 4D printed soft robots in hazardous chemical operations.
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