一个3D无otropic热力学模型用于热诱导编织织物增强形状记忆的聚合物复合材料
Yingyu Wang1,2, Zhiyi Wang1,2, Jia Ma1
1Institute of Aerospace System Engineering Shanghai, Shanghai 201108, China.
Sensors (Basel, Switzerland)
|July 29, 2023
概括
一个新的热力学模型使用形状记忆聚合物复合材料 (SMPC) 增强软机器人抓手. 这个模型准确地预测了SMPC的行为,优化了对不规则物体的抓手设计.
科学领域:
- 材料科学 材料科学 材料科学
- 机器人技术 机器人技术 机器人技术
- 机械工程 机械工程
背景情况:
- 与刚性抓手相比,柔软的机器人抓手在处理微妙或不规则形状的物体方面具有优势.
- 形状记忆聚合物复合材料 (SMPC) 在软机器人中被广泛使用,因为它们具有高应变性,特异性强度和驱动力.
研究的目的:
- 为织物增强SMPC提供一个一般的3D异型热力学模型.
- 模拟和研究SMPC的形状记忆行为,用于软机器人应用.
主要方法:
- 开发了一个基于赫尔姆霍尔茨自由能量分解和热力学第二定律的3D异型热力学模型.
- 修改了混合规则,以纳入线-矩阵和线间相互作用的应力度因子.
- 实现了使用用户材料子程序 (UMAT) 进行有限元分析的模型.
主要成果:
- 该模型准确地模拟了SMPC的形状记忆行为,模拟结果与实验数据一致.
- 数字研究表明,线定向对SMPC软抓手的形状记忆性能有显著影响.
结论:
- 拟议的热力学模型有效地捕捉了织物增强SMPC的复杂行为.
- 经过验证的模型为设计和优化基于SMPC的软机器人抓器提供了有价值的工具,特别是在线架构方面.
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