Matrix Shear-Lag Parameter in a Shape Memory Alloy-Actuator-Reinforced Silicon Elastomer

摘要

The excellent qualities possessed by silicon elastomer when used in designing flexible parts of mechanical systems, make it imperative that we analyze its deformations and distributed axial forces in a matrix of shape memory alloy (SMA) fibers designed as possible appendages for gripping robots. The essence of these analyses is to determine the shear-lag parameter which has influence on the axial distributed forces proposed as a gauge for testing the structure in a high yield, high force and high strain mechanical environment. The insertion of SMA fibers in flexible rods cast using silicon elastomer results in the deformation of the host medium once shape recovery of the fiber occurs. This paper aims to analyze the mechanics of the said shape recovery in a modeled silicon elastomer rod with a single off-axis reinforced SMA actuator. The compressive force distribution mechanism and the bending moment caused by phase transformation in the design are determined using an approximate analytical model. The deformations on the structure proposed as an appendage on gripping robots were further analyzed by determining their equations of equilibrium, force factors and their comparative shear-lag models to be able to estimate the force distribution on the structure.