Broad-scale area change of a non-porous surface while maintaining resistance to aerodynamic loading was demonstrated through the development of a passive elastomeric matrix composite morphing skin. The combined system includes an elastomer-fiber-composite surface layer that is supported by a flexible honeycomb structure, each of which exhibit a near-zero in-plane Poisson’s ratio. A number of elastomers, composite arrangements, and substructure configurations were evaluated and characterization testing led to the selection of the most appropriate components for prototype development. The complete prototype morphing skin demonstrated 100% uniaxial extension accompanied by a 100% increase in surface area. Results from out-of-plane pressure loading showed that out-of-plane deflection of less than 0.1 in. (2.5 mm) can be maintained at various levels of area change under pressures of up to 200 psf (9.58 kPa). Applications to wing span morphing UAVs are also discussed.
McKibben actuators are pneumatic actuators with very high force to weight ratios. Their ability to match the behavior of biological muscles better than any other actuators has motivated much research into the characterization and modeling of these actuators. The purpose of this paper is to experimentally characterize the behavior of McKibben artificial muscles with basic geometric parameters, and present a model that is able to predict the static behavior accurately in terms of blocked force and free displacement. A series of experiments aimed at understanding the static behavior of the actuators was conducted. The results for three different lengths (4 in., 6 in., and 8 in.), three diameters (1/8 in., 1/4 in., and 3/8 in.), and one wall thickness (1/16 in.) at pressures ranging from 10 psi to 60 psi illustrate the key design trends seen in McKibben actuator geometry. While existing models predict this static behavior, there are varying degrees of accuarcy, which motivates the present study. Using knowledge gained from the experimental study, improvements for the two modeling approaches were explored, including effects from elastic energy storage, noncylindrical shape, and variable thickness. To increase model accuracy, another set of experiments was used to characterize the elasticity of the rubber tubes and fibers of the braid. Comparisons of the measured data to the improved model indicate that the ability to accurately predict the static behavior of McKibben actuators has increased.
Ionomeric polymer transducers consist of an ion-conducting membrane sandwiched between two metal electrodes. Application of a low voltage (<5V) to the polymer produces relatively large bending deformation (>2% strain) due to the transport of ionic species within the polymer matrix. A computational model of transport and electromechanical transduction is developed for ionomeric polymer transducers. The transport model is based upon a coupled chemoelectrical multifield formulation and computes the spatiotemporal volumetric charge density profile to an applied potential at the boundaries. The current induced in the polymer is computed using the isothermal transient ionic current associated with surface charge accumulation at the electrodes induced by nonzero volumetric charge density within the polymer. The stress induced in the polymer is assumed to be a summation of linear and quadratic functions of the volumetric charge density. Euler-Bernoulli beam mechanics are used to compute the bending deflection of the transducer to an applied potential. The diffusion coefficient and permittivity of the polymer is identified from the measured current density to a step change in the applied potential. A comparison between the measured data and the predicted response demonstrates that this model accurately predicts the current discharge due to the applied potential at voltages over the range of 50–500mV. Furthermore, the measured strain response is accurately predicted by determining the two parameters of the mechanics model that relates volumetric charge density to induced stress. The coupled model with parameters identified from the step response analysis is used to predict the harmonic response of the current and the bending strain. Comparisons between measured data and simulations illustrate that the coupled transport-mechanics model accurately predicts the magnitude and trends associated with the current response and strain output. Excellent agreement is obtained at excitation periods above approximately 1s while good agreement is obtained at longer excitation periods. The transport model highlights the importance of the asymmetry that develops at large applied potentials and long excitation periods in the volumetric charge density due to the fixed anionic species in the polymer.
Recent developments in morphing aircraft research have motivated investigation into conformal morphing systems, that is, shape change without discrete moving parts or abrupt changes in the airfoil profile. In this study, implementation of a continuous span morphing wing is described. The system consists of two primary components: (1) zero-Poisson ratio morphing core and (2) fiber-reinforced elastomeric matrix composite skin with a nearly zero-Poisson ratio in-plane. The main goal for improved air vehicle efficiency was a nominal 100% change in area of the active wing section with less than 2.54 mm out-of-plane deflection under representative aerodynamic loading. Objectives of this study included exploring fabrication techniques for advanced morphing core shapes (i.e., having airfoil-shaped cross-section), exploiting customizable design parameters of in-house fabricated skin and core material, designing a prototype wing structure such that integration with a candidate UAV was feasible, and experimentally evaluating a laboratory prototype. As a result of this study, the ability to physically build and test a viable airfoil structure capable of increasing its planform area by 100% (doubling span with constant chord) was demonstrated on a prototype hardware demonstration article. Satisfying objectives of designing, fabricating, and testing a prototype morphing wing section capable of 100% span extension, while maintaining constant chord, a wind tunnel test highlighted the resulting viable aerodynamic surface in a wind tunnel test up to 130 km/h wind speeds. The prototype wing in its resting condition had a span of 61.0 cm, which could be extended to 122.0 cm, with less than 2.54 mm out-of-plane deflection in dynamic pressures consistent with the maximum speed, 130 km/h, of a candidate unmanned aerial vehicle platform. In meeting these goals, the morphing core was successfully transitioned from a simple 1D concept into a complex, cambered airfoil with sufficient free volume to house an actuation system. A refined elastomer matrix composite skin fabrication technique was also devised and experimentally validated on skins of various thicknesses and overall dimensions.
McKibben actuators are pneumatic actuators with very high force to weight ratio. Their ability to match the behavior of biological muscles better than many other actuators has motivated much research into characterization and modeling of these actuators. The purpose of this paper is to experimentally characterize the behavior of McKibben artificial muscles with basic geometric parameters and present a model that is able to predict the static behavior correctly in terms of blocked force and free displacement. A series of experiments aimed at understanding the static behavior of the actuators was conducted. The results for three different lengths (4, 6, 8 in), three diameters (1/8, 1/4, 3/8 in) and two wall thicknesses (1/32 and 1/16 in) at pressures ranging from 10 psi to 60 psi show the expected trends (for example, block force increasing with diameter) as predicted by models presented in the literature. However, these models do not accurately predict static behavior. Corrections to the Gaylord equation are explored in order to obtain a more accurate model. Consideration of elastic energy storage in the rubber tube has been shown to significantly improve the models. Apart from this, the effect of non-cylindrical tips and elastic energy storage in the braid are also considered. To increase model accuracy, another set of experiments was used to characterize the elasticity of the rubber tubes and fibers of the braid. The improved model is able to predict static behavior correctly. Incorporating, various corrections, a model is presented that is more accurate in predicting the static behavior. Finally, in order to possibly obtain larger force output from the McKibben actuators, a series of experiments were performed to study the impact of an applied pre-strain. The results presented show large increases in blocked force with pre-strain. For the largest diameter actuator of 6 inch length, the blocked force at 12% pre-strain is as high as 270 N, while the amplification is higher at lower pressures. The model is tested to predict the pre-strain characteristics. A number of factors are identified that may improve the model and incorporate dynamic behavior.
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