An Autonomous Programmable Actuator and Shape Reconfigurable Structures using Bistability and Shape Memory Polymers

Autonomous deployment and shape reconfiguration of structures is a crucial field of research in space exploration with emerging applications in the automotive, building and biomedical industries. Challenges in achieving autonomy include: bulky energy sources, imprecise deployment, jamming of components and lack of structural integrity. Leveraging advances in the fields of shape memory polymers, bistability and 3D multi-material printing, we present a 3D printed programmable actuator that enables the autonomous deployment and shape reconfiguration of structures activated though surrounding temperature change. Using a shape memory polymer as the temperature controllable energy source and a bistable mechanism as the linear actuator and force amplifier, the structures achieve precise geometric activation and quantifiable load bearing capacity. The proposed unit actuator integrates these two components and is designed to be assembled into larger deployable and shape reconfigurable structures. First, we demonstrate that the activation of the unit actuator can be sequenced by tailoring each shape memory polymer to a different activation time. Next, by changing the configuration of the actuator, we demonstrate an initially flat surface that transforms into a pyramid or a hyperbolic paraboloid, thus demonstrating a multi-state structure. Load bearing capability is demonstrated for both during activation and in the operating state.Comment: 8 pages, 5 figure

Design Library Solution Patterns in SysML for Concept Design and Simulation

AbstractObject-oriented models in the Systems Modeling Language (SysML) are developed in this paper to support the concept development phase within engineering design. Generic libraries in SysML for functions, according to the functional basis, and structural components, are presented in previous work by the authors. This paper extends this work and proposes the use of multi-solution patterns in SysML that combine a new behavior simulation library together with the previous generic libraries describing functions and components. These patterns capture coherent solutions to known problems that can be reused in concept design with the aim to save modeling effort. Since they are based on solution-neutral functions, they also offer multiple potential solutions at once. The new behavior simulation library and solution patterns are demonstrated in this paper using a 3D printer case study with two different kinematic solutions

Three-dimensional labels: A unified approach to labels for a general spatial grammar interpreter

Spatial grammars are rule-based, generative systems for the specification of formal languages. Set and shape grammar formulations of spatial grammars enable the definition of spatial design languages and the creation of alternative designs. The original formalism includes labels that provide the possibility to restrict the application of rules or to incorporate additional, nongeometric information in grammar rules. Labels have been used in various ways. This paper investigates the different uses of labels in existing spatial grammars, both paper based and computational, and introduces a new concept of three-dimensional (3-D) labels for spatial grammars. The approach consolidates the different label types in one integrated concept. The main use of 3-D labels is that they can simplify the matching of the left-hand side of rules in parametric grammars. A prototype implementation is used to illustrate the approach through a mechanical engineering example of generating robot arm concepts. This approach more readily enables the use of complex solid geometry in the definition and application of parametric rules. Thus, the flexible generation of complex, meaningful design solutions for mechanical engineering applications can be achieved using parametric spatial grammars combined with 3-D label

Autonomous Deployment of a Solar Panel Using an Elastic Origami and Distributed Shape Memory Polymer Actuators

Deployable mechanical systems such as space solar panels rely on the intricate stowage of passive modules, and sophisticated deployment using a network of motorized actuators. As a result, a significant portion of the stowed mass and volume are occupied by these support systems. An autonomous solar panel array deployed using the inherent material behavior remains elusive. In this work, we develop an autonomous self-deploying solar panel array that is programmed to activate in response to changes in the surrounding temperature. We study an elastic "flasher" origami sheet embedded in a circle of scissor mechanisms, both printed with shape memory polymers. The scissor mechanisms are optimized to provide the maximum expansion ratio while delivering the necessary force for deployment. The origami sheet is also optimized to carry the maximum number of solar panels given space constraints. We show how the folding of the "flasher" origami exhibits a bifurcation behavior resulting in either a cone or disk shape both numerically and in experiments. A folding strategy is devised to avoid the undesired cone shape. The resulting design is entirely 3D printed, achieves an expansion ratio of 1000% in under 40 seconds, and shows excellent agreement with simulation prediction both in the stowed and deployed configurations.Comment: 12 pages, 12 figure

Tensile Properties of Inkjet 3D Printed Parts: Critical Process Parameters and Their Efficient Analysis

To design and optimize for capabilities of additive manufacturing processes it is also necessary to understand and model their variations in geometric and mechanical properties. In this paper, such variations of inkjet 3D printed parts are systematically investigated by analyzing parameters of the whole process, i.e. storage of the material, printing, testing, and storage of finished parts. The goal is to both understand the process and determine the parameters that lead to the best mechanical properties and the most accurate geometric properties. Using models based on this understanding, we can design and optimize parts, and fabricate and test them successfully, thus closing the loop. Since AM materials change rapidly and this process will have to be repeated, it is shown how to create a cost and time efficient experimental design with the one-factor-at-a-time and design of experiments methods, yielding high statistical accuracies for both main and interaction effects. The results show that the number of intersections between layers and nozzles along the load-direction has the strongest impact on the mechanical properties followed by the UV exposure time, which is investigated by part spacing, the position on the printing table and the expiry date of the material. Minor effects are found for the storage time and the surface roughness is not affected by any factor. Nozzle blockage, which leads to a smaller flow-rate of printing material, significantly affected the width and waviness of the printed product. Furthermore, the machine’s warm-up time is found to be an important factor

Energy Absorption Properties of Periodic and Stochastic 3D Lattice Materials

Architected lattices can be designed to have tailorable functionalities by controlling their constitutive elements. However, little work has been devoted to comparing energy absorption properties in different periodic three‐dimensional geometries to each other and to comparable foam‐like random structures. This knowledge is essential for the entire design process. In this work, the authors conduct a systematic and comprehensive computational study of the quasi‐static and dynamic energy absorption properties of various different geometries. They test compression loading over strain rates varying from 1 to 10^4 s^(−1). The authors analyze geometries with varying degrees of nodal connectivity, ranging from bending dominated to stretching dominated, at different orientations, and compare their response to equivalent stochastic lattices. Results show relatively high stress peaks in the periodic lattices, even in bending dominated lattices at certain orientations. Conversely, the stochastic geometries show a relatively constant stress response over large strains, which is ideal for energy absorbing applications. Still, results show that specific orientations of bending dominated periodic lattice geometries outperform their stochastic equivalents. This work can help to quickly identify the potential of different unit cell types and aid in the development of lattices for impulse mitigation applications, such as in protective sports equipment, automotive crashworthiness, and packaging

Tandem Intramolecular Nicholas and Pauson-Khand Reactions for the Synthesis of Tricyclic Oxygen-Containing Heterocycles

Simple acyclic enynes can be easily converted into tricyclic ethers upon treatment with Co2(CO)8followed by Nicholas and Pauson−Khand reactions. Tricyclic [5,8,5]- and [5,7,5]-systems can be prepared in high overall yields in only seven synthetic steps

Harnessing bistability for directional propulsion of soft, untethered robots

In most macroscale robotic systems, propulsion and controls are enabled through a physical tether or complex onboard electronics and batteries. A tether simplifies the design process but limits the range of motion of the robot, while onboard controls and power supplies are heavy and complicate the design process. Here, we present a simple design principle for an untethered, soft swimming robot with preprogrammed, directional propulsion without a battery or onboard electronics. Locomotion is achieved by using actuators that harness the large displacements of bistable elements triggered by surrounding temperature changes. Powered by shape memory polymer (SMP) muscles, the bistable elements in turn actuate the robot’s fins. Our robots are fabricated using a commercially available 3D printer in a single print. As a proof of concept, we show the ability to program a vessel, which can autonomously deliver a cargo and navigate back to the deployment point