A 3D Anisotropic Thermomechanical Model for Thermally Induced Woven-Fabric-Reinforced Shape Memory Polymer Composites.

Soft robotic grippers offer great advantages over traditional rigid grippers with respect to grabbing objects with irregular or fragile shapes. Shape memory polymer composites are widely used as actuators and holding elements in soft robotic grippers owing to their finite strain, high specific strength, and high driving force. In this paper, a general 3D anisotropic thermomechanical model for woven fabric-reinforced shape memory polymer composites (SMPCs) is proposed based on Helmholtz free energy decomposition and the second law of thermodynamics. Furthermore, the rule of mixtures is modified to describe the stress distribution in the SMPCs, and stress concentration factors are introduced to account for the shearing interaction between the fabric and matrix and warp yarns and weft yarns. The developed model is implemented with a user material subroutine (UMAT) to simulate the shape memory behaivors of SMPCs. The good consistency between the simulation results and experimental validated the proposed model. Furthermore, a numerical investigation of the effects of yarn orientation on the shape memory behavior of the SMPC soft gripper was also performed.