Introduction to Smart Materials

(1)

M2794.007700 Smart Materials and Design

School of Mechanical and Aerospace Engineering Seoul National University

http://fab.snu.ac.kr ahnsh@snu.ac.kr

Introduction to Smart Materials

1 March 2, 2017

Prof. Sung-Hoon Ahn (安成勳)

(2)

Outline

Introduction to smart materials Introduction to composite

Introduction to shape memory effect and shape memory alloy Introduction to electro-active polymer

Application examples of smart materials to engineering

(3)

© Sung-Hoon Ahn

 Instructor



Prof. Sung-Hoon Ahn, Director of Innovative Design and Integrated Manufacturing (IDIM) lab

 Textbook and references

1. IssacM. Daniel, “Engineering Mechanics of Composite Materials”

2. Ronald F. Gibson, “Principles of Composite Material Mechanics”, McGraw-Hill 3. 4. Dimitris C. Lagoudas, “Shape Memory Alloys”, Springer

4. K. Otsuka and C. M. Wayman, “Shape Memory Materials”, Cambridge

5. Kwang J. Kim and Satoshi Tadokoro, “Electroactive Polymers for Robotic Applications”, Springer

 Class schedule



Refer to the hard copy

 TA



Ho-jin Kim, ghwls90@snu.ac.kr, Room 323@313



Yingjun Quan, jeonyj710@snu.ac.kr, Room 1402@301

 Notice

 Agreement of collect personal information (picture, name, department)

 Agreement of Non-Disclosure

3

Course information

(4)

2017 spring smart materials and design – ^Grade

Category Percentage

Attendance 20 %

Homework 20 %

Term project

1

^st

presentation 10 %

2

^nd

presentation 10 %

3

^rd

presentation 10 %

4

^th

presentation 30 %

Total 60 % (50%+10% internal evaluation)

Total 100 %

 Individual contribution will be included in term project

4

(5)

Issues to be covered in this class

 Composite

 Analysis of lamina

 Classical lamination theory

 Manufacturing processes

 Shape memory effect (SME) and shape memory alloy (SMA)

 Fundamental theory of shape memory alloy

 Thermomechanical characteristics and constitutive modeling

 SMA fabrication processes

 Design of SMA and its applications

 Electroactive polymer (EAP)

 Fundamental theory and types of EAP

 Design and fabrication processes of EAP

 Piezoelectric materials (PZT)

 Introduction to PZT materials

5

(6)

6

Robotics and biomimetics Architecture and structural health monitoring

APPLICATIONS Of Smart materials

Automobile Spacecraft

Electronics

Fencing wear

Sports / QoLT

Biomedical

(7)

NASA morphing aircraft

https://www.youtube.com/watch?v=vR3T8mdpdTI 7

(8)

NASA morphing wing

https://www.youtube.com/watch?v=vR3T8mdpdTI 8

(9)

BMW morphing car

https://www.youtube.com/watch?v=kTYiEkQYhWY 9

(10)

BMW Unveils Shape-Shifting Car

https://www.youtube.com/watch?v=S6bGTjsL9yU 10

(11)

Nokia phone

https://www.youtube.com/watch?v=ovqDMvsWuvc 11

(12)

RoboBee micro air vehicle

https://www.youtube.com/watch?v=GEeuZqAW9vE&t=10s 12

(13)

Nitinol stent deployment

https://www.youtube.com/watch?v=22OBH3M1oYE 13

(14)

Head piezoelectric ski

https://www.youtube.com/watch?v=htKZnko-S28 14

(15)

Bridge structural health monitoring

https://www.youtube.com/watch?v=s75SndFomr4 15

(16)

Turtle Mimetic Flipper

@ IDIM lab

15

(17)

Soft robotic gripper and wrist

17

Gripper with hinged fingers Wrist and curved gripper

@ IDIM lab

(18)

Deployable soft composite structures

18 Wang, W., Rodrigue, H., Ahn, S. H. Deployable Soft Composite Structures. Sci. Rep. 6, 20869 (2016).

(19)

4D Printed SMP (Shape Memory Polymer)

https://www.youtube.com/watch?v=SpqHwtdRdCI 19

(20)

Big Hero

20

(21)

Smart materials introduction

- Classification of Smart Materials

21

Smart materials

Shape memory materials

Shape memory

alloys Shape memory polymers

Electroactive polymers

Ionic EAP

Ionic gels

IPMC

Conducting polymer

Electrorheolo gical fluids

Electronic EAP

Ferroelectric polymer

Dielectric EAP

Electrostrictive graft elastomers

Liquid crystal elastomers

Piezoelectric materials

Piezoceramics

(22)

Comparison of Smart Materials

22

Characteristics SMA IPMC PZT

Voltage (V) Low (>2) Low (>1) High (>100) Strain (%) Medium (>5) Large (>40) Small (0.2) Stress (MPa) Large (>200) Low (0.3) Large (110)

Actuation

Frequency (Hz) Slow (~20) Fast (<100) Very Fast (~10,000)

SMA based high frequency actuator PZT actuated RoboBee

wing (120 Hz)

IPMC artificial muscle slowly oscillating at 0.15-1 Hz

Wood R, Nagpal R, Wei G Y. Flight of the Robobees. Scientific American, 2013, 308(3): 60-65.

https://www.youtube.com/watch?v=GpLcA5YCwls

20 Hz

(23)

 Biomimetic swimming robots

 Mechanical linkages are required to achieve complex motion of nature

 Mechanical linkages are heavy and stiff

Development of AUVs

(Autonomous Underwater Vehicles)

Biomimetic swimming robots using conventional actuators (motors and pistons)

Galatea (2009) 17 DC servomotors, 30W

AQUA (2004)

6 DC servomotors, 36W

22 Invisible underwater robot, MIT (2017) Soft octopus robot (2014)

(pectoral fin)

3 DC servomotors, 30W

AquaPenguin (2009)

(tendon driven, motor based) Jellyfish, Virginia Tech (2012)

(24)

Comparison of Actuation Method for Underwater Robots

24 15

Smart Actuator

Motor

57

22 13

17 23 26

11,16 20,21 27

28 9

6,25 17

18 8 10 19

7 24

52 51

45

62

67

61

66 70

4 55,58,59

63,64 53 49

65 48

45 68 56 54

60

Chu W. S., et al. Review of biomimetic underwater robots using smart actuators.

International Journal of Precision Engineering and Manufacturing, 2012, 13(7): 1281-1292.

IDIM turtle robot

AquaPenguin (2009)

3 DC servomotors

(25)

 Shape memory alloy

Metallic alloys that undergo a solid-to-solid phase transformation which can exhibit large recoverable strains. Example: Nitinol.

 Shape memory effect

 Pseudoelastic effect

Shape Memory Alloy (SMA)

25

SMA Spring vs Hot Water

e T

Cooling

Detwinning

Heating/Recovery

s

^Mf

s

^Ms

s

^Af

s

^As

s

e

Shape memory effect Pseudoelastic effect

Phase transformation of SMA

M_f: Martensite finish temperature M_s: Martensite start temperature A_s: Austenite start temperature A_f: Austenite finish temperature

(26)

Shape Memory Alloy (SMA)

26

Soft autonomous earthworm robot at MIT

 SMA coil spring actuator

 Working principle

 Manufacturing

Working principle

Simple manufacturing system

enables the fabrication of long strand coiled springs of NiTi muscle fiber. The core wire is under tension and an NiTi wire is wound around the core. The guidance tube is slightly larger than the core wire. The tension of the NiTi wire is maintained by friction between NiTi and the long bar.

Seok S, et al. Mechatronics, 2013, 18: 1485-1497.

(27)

SMA based high frequency actuator

 Higher heat dissipation rate

 The phase changes of SMA wire determine the actuating characteristic of actuator.

 To increase actuating speed, rapid heating and cooling of SMA wire are required.

SMA wire

Method of increasing heat dissipation rate

Decreasing SMA thickness

Higher heat dissipation rate

26 Fast actuating actuator

(28)

Ionic Polymer-Metal Composite (IPMC)

28

 IPMC

IPMC consists of an ionic polymer material as a base ion exchange medium and a surface metal electrode to which the electric potential is applied.

By applying a voltage to the metal electrodes, the hydrated cations inside the base ionic polymer are rearranged. This rearrangement then induces a volume change, depending on the direction of the anode.

Bending mechanism of an IPMC

IPMC bending actuator

Size: 70 mm X 8 mm Frequency: 0.1-5 Hz

IPMC biaxial actuator

(Lee G-Y et al, 2011) The structure is bar shaped with a square cross section and had four insulated electrodes on its surface. By applying different voltages to these four electrodes, a biaxial bending motion can be induced

(29)

Negative Poisson’s ratio

29

Auxetic lattice of multipods

Pikhitsa P V, Choi M, Kim H J, et al. Auxetic lattice of multipods. physica status solidi (b), 2009, 246: 2098-2101

(30)

Origami & Kirigami structure

30

Origami structure & Kirigami structure

A traditional art form of paper folding and cutting,

has been of increasing interest to mathematicians and engineers morphing structures and energy absorption structures/devices utilizing origami patterns

(31)

EXAMPLES OF

PREVIOUS PROJECTS

31

(32)

Adaptable Tire via the use of SMA

 Adaptable tire characteristics:

 For rainy and snowy conditions, sufficient tread pattern is required to maintain the grip with the road.

 Both tire compound (composed material) and the tread pattern determines the driving capabilities

 The surface pattern of tire can change using SMA based on condition of road surface

31

(33)

Morphing wheel for Amphibious vehicle

Operation on ground Operation in water

 Bi-stable structure with SMA

 Switch states between two stable positions

 Expansion : by weight and bi-stable structure (water to ground)

 Contraction : by SMA wire actuation (ground to water)

* 2015 class presentation ₃₂

(34)

Rear Wing for Racecar using SMA Wire

34

skin (PDMS)

SMA wires

support structure bending deflection SMA spring

 Rotating/Bending motions produced by

embedded SMA wires to change the rear wing angle of attack

1 2 3

4 5

 Rear wing is inclined by 30 degrees using SMA spring

 Deflection increased a little using the SMA wires

* 2013 Class presentation

(35)

Solar Tracker for Solar Panel

35

 Amount of energy harvested can be optimized by following the trajectory of the sun

 SMA wire is used as sensor & actuator

 Increased solar efficiency by 19%

0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016

40 90 140

Power (W)

Angle of light

Fixed Rotated

(36)

Wrist Assistive Device to Prevent CTS

36

 A multi-position self-

adjustable wrist support system was developed to help prevent Carpal Tunnel Syndrome (CTS).

 SMA wires are used to adjust individual buckling elements.

 8 modes of deformation are possible using 3 channels.

(37)

Transformable Wheel using Origami Structure-based Morphing Structure

37

 A robot based on origami principle that is capable of adjusting its

wheel diameter was developed

SMA Spring

 Uses a SMA spring to go from the stretched state to the folded state

Stretched state Folded state

Results presented at IEEE International Conference of Robotics and Automation (ICRA) 2013

(38)

Biomimetic Underwater Exploring Robot

38

Introduction to Smart Materials

M2794.007700 Smart Materials and Design

Introduction to Smart Materials

1

March 2, 2017

Prof. Sung-Hoon Ahn (安成勳)

Outline

Introduction to smart materials Introduction to composite

Introduction to shape memory effect and shape memory alloy Introduction to electro-active polymer

Application examples of smart materials to engineering

 Instructor

Prof. Sung-Hoon Ahn, Director of Innovative Design and Integrated Manufacturing (IDIM) lab

 Textbook and references

 Class schedule

Refer to the hard copy

 TA

Ho-jin Kim, ghwls90@snu.ac.kr, Room 323@313

Yingjun Quan, jeonyj710@snu.ac.kr, Room 1402@301

 Notice

 Agreement of collect personal information (picture, name, department)

 Agreement of Non-Disclosure

Course information

2017 spring smart materials and design – Grade

Category Percentage

Attendance 20 %

Homework 20 %

Term project

1

presentation 10 %

2

presentation 10 %

3

presentation 10 %

4

presentation 30 %

Total 60 % (50%+10% internal evaluation)

Total 100 %

 Individual contribution will be included in term project

Issues to be covered in this class

 Composite

 Analysis of lamina

 Classical lamination theory

 Manufacturing processes

 Shape memory effect (SME) and shape memory alloy (SMA)

 Fundamental theory of shape memory alloy

 Thermomechanical characteristics and constitutive modeling

 SMA fabrication processes

 Design of SMA and its applications

 Electroactive polymer (EAP)

 Fundamental theory and types of EAP

 Design and fabrication processes of EAP

 Piezoelectric materials (PZT)

 Introduction to PZT materials

Robotics and biomimetics Architecture and structural health monitoring

APPLICATIONS Of Smart materials

Automobile Spacecraft

Electronics

Sports / QoLT

Biomedical

NASA morphing aircraft

NASA morphing wing

BMW morphing car

BMW Unveils Shape-Shifting Car

Nokia phone

RoboBee micro air vehicle

Nitinol stent deployment

Head piezoelectric ski

Bridge structural health monitoring

Turtle Mimetic Flipper

@ IDIM lab

Soft robotic gripper and wrist

Gripper with hinged fingers Wrist and curved gripper

@ IDIM lab

Deployable soft composite structures

4D Printed SMP (Shape Memory Polymer)

Big Hero

Smart materials introduction

- Classification of Smart Materials

Smart materials

Shape memory materials

2017 spring smart materials and design – ^Grade