Abstract
For soft robotics and programmable metamaterials, novel approaches are required enabling the design of highly integrated thermoresponsive actuating systems. In the concept presented here, the necessary functional component was obtained by polymer syntheses. First, poly(1,10-decylene adipate) diol (PDA) with a number average molecular weight Mn of 3290 g·mol−1 was synthesized from 1,10-decanediol and adipic acid. Afterward, the PDA was brought to reaction with 4,4′-diphenylmethane diisocyanate and 1,4-butanediol. The resulting polyester urethane (PEU) was processed to the filament, and samples were additively manufactured by fused-filament fabrication. After thermomechanical treatment, the PEU reliably actuated under stress-free conditions by expanding on cooling and shrinking on heating with a maximum thermoreversible strain of 16.1%. Actuation stabilized at 12.2%, as verified in a measurement comprising 100 heating-cooling cycles. By adding an actuator element to a gripper system, a hen’s egg could be picked up, safely transported and deposited. Finally, one actuator element each was built into two types of unit cells for programmable materials, thus enabling the design of temperature-dependent behavior. The approaches are expected to open up new opportunities, e.g., in the fields of soft robotics and shape morphing.
Highlights
Soft robotics, as well as the still novel metamaterials [1,2] or programmable materials [3], require compliant actuator materials
The temporary shape will be stable until the one-way shape memory effect (1W SME) is triggered, whereupon the polymer almost completely returns into the permanent shape [4]
We describe a route of how to identify pronounced actuation and used thermomechanical treatment to facilitate reliable actuator functionality
Summary
As well as the still novel metamaterials [1,2] or programmable materials [3], require compliant actuator materials. Zhou et al [36] introduced a gripper from a chemically cross-linked poly(octylene adipate) and demonstrated how programming enables the lifting and depositing of a small screw at temperatures between 10 ◦ C and 36 ◦ C In both cases, the essential advantage of the two-way shape memory effect becomes clear: autonomous motion. We describe a route of how to identify pronounced actuation and used thermomechanical treatment to facilitate reliable actuator functionality On this basis, a novel system was built in which the actuator transfers its motion to the stiff, mobile components of a gripper, opening the door to grab and release bigger and more complex objects. It will be demonstrated that the ability of the polymer to transfer its movements makes it possible to produce completely new systems with programmable property profiles
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