Fiber-reinforced rubber composites with integrated shape memory alloy (SMA) actuator wires present a promising approach for the creation of soft and highly elastic structures with adaptive functionalities for usage in aerospace, robotic, or biomedical applications. In this work, the flat-knitting technology is used to develop glass-fiber-reinforced fabrics with tailored properties designed for active bending deformations. During the knitting process, the SMA wires are integrated into the textile and positioned with respect to their actuation task. Then, the fabrics are infiltrated with liquid silicone, thus creating actively deformable composites. For dimensioning such structures, a comprehensive understanding of the interactions of all components is required. Therefore, a simulation model is developed that captures the properties of the rubber matrix, fiber reinforcement, and the SMA actuators and that is capable of simulating the active bending deformations of the specimens. After model calibration with experimental four-point-bending data, the SMA-driven bending deformation is simulated. The model is validated with activation experiments of the actively deformable specimens. The simulation results show good agreement with the experimental tests, thus enabling further investigations into the deformation mechanisms of actively deformable fiber-reinforced rubbers.

No abstract

Shape memory alloys (SMA) are a promising material class for active lightweight structure applications with movement functionality. Due to their high activation energy potential and good processability in wire shape, they are well suited for application in actively deformable, fibre-reinforced composite structures. In order to generate large deflections from the limited deformation potential of SMA, detailed analysis of the deformation mechanisms is required. In this work, a bionic approach is pursued, investigating the characteristics of locomotion systems of insects. A simplified joint concept is derived from the cockroach knee and implemented using flat knitting technology. A composite joint is manufactured with a resin infusion process and experimentally verified in regards to its motion behaviour. The presented results show good deformation behaviour with large deformation angles up to 60°, suggesting large potential for further development of the presented approach.

Adaptive structures based on fiber-rubber composites with integrated Shape Memory Alloys are promising candidates for active deformation tasks in the fields of soft robotics and human-machine interactions. Solid-body hinges improve the deformation behavior of such composite structures. Textile technology enables the user to develop reinforcement fabrics with tailored properties suited for hinged actuation mechanisms. In this work, flat knitting technology is used to create biaxially reinforced, multilayer knitted fabrics with hinge areas and integrated Shape Memory Alloy wires. The hinge areas are achieved by dividing the structures into sections and varying the configuration and number of reinforcement fibers from section to section. The fabrics are then infused with silicone, producing a fiber-rubber composite specimen. An existing simulation model is enhanced to account for the hinges present within the specimen. The active deformation behavior of the resulting structures is then tested experimentally, showing large deformations of the hinged specimens. Finally, the simulation results are compared to the experimental results, showing deformations deviating from the experiments due to the developmental stage of the specimens. Future work will benefit from the findings by improving the deformation behavior of the specimens and enabling further development for first applications.

Natural muscles, that convert chemical energy derived from glucose into mechanical and thermal energy, are capable of performing complex movements. This natural muscle power was the only way to perform mechanical work in a targeted manner for millions of years. In the course of thousands of years of technical development, mankind has succeeded in harnessing various physical and chemical phenomena to drive specific mechanical processes. Wind and water power, steam and combustion engines or electric motors are just a few examples. However, in order to make the diversity and flexibility of natural motion patterns usable for machines, attempts have been made for many years to develop artificial muscles. These man-made smart materials are able to react to environmental conditions by significantly changing their shape or size. For the design of effective artificial muscles that closely resemble the natural original, the usage of textile technology offers great advantages. By means of weaving, individual actuators can be parallelized, which enables the transmission of greater forces. By knitting the maximum stretching performance can be enhanced by combining the intrinsic stretching capacity of the actuators with the structural-geometric stretching capacity of the fabric. Furthermore textile production techniques are well suited for the requirement-specific, individual placement of actuators in order to achieve the optimal geometry for the respective needs in every load case. Ongoing technical development has created fiber based and non-fibrous artificial muscles that are capable of mimicking and even out-performing their biological prodigy. Meanwhile, a large number of partly similar, but also very different functional principles and configurations were developed, each with its own specific characteristics. This paper provides an overview of the relevant and most promising technical approaches for realising artificial muscles, classifies them to specific material types and explains the mechanisms used as well as the possible textile applications.