Hingeless arm for space robotics actuated through shape memory alloys.

Operating outside the spacecraft via remotely controlled structures is an important opportunity in different space applications. The research in this area is focused on designing robots that are sufficiently flexible to allow inspection in locations where access is difficult or impossible for astronauts, while minimizing weight and bulk. The purpose of the research is to design a borescope for space applications with no hinges or other mechanisms, exploiting biomimetic design concepts. This is pursued by giving to the borescope a backbone exoskeleton provided by a continuous structure made of fibre reinforced composite material and using NiTi wires as tendons, taking advantage of their low weight and dimensions, which allow them to be embedded between the composite layers during the lamination process. After a study of the state of the art of flexible structures, concentrated in the medical and robotic fields, the research work unfolded in two phases. In the first design phase, several composite layup solutions were considered and analysed using finite element models, leading to the definition of the borescope geometrical parameters and to an initial estimate of the displacements that can be achieved. In the second experimental phase, seven prototypes were produced and tested, with one or more wires, to validate the design and to search for a configuration that can be actuated in different directions. The borescope prototypes resulted flexible enough to achieve an extended degree of bending and at the same time sufficiently rigid to allow complete rearm of the NiTi wires. The numerical and experimental study led to the definition of the design parameters, the number of wires, and the manufacturing technique to integrate NiTi actuators.

Poly(methyl methacrylate) as Healing Agent for Carbon Fibre Reinforced Epoxy Composites.

Self-healing materials offer a potential solution to the problem of damage to fibre-reinforced plastics (FRPs) by allowing for the in-service repair of composite materials at a lower cost, in less time, and with improved mechanical properties compared to traditional repair methods. This study investigates for the first time the use of poly(methyl methacrylate) (PMMA) as a self-healing agent in FRPs and evaluates its effectiveness both when blended with the matrix and when applied as a coating to carbon fibres. The self-healing properties of the material are evaluated using double cantilever beam (DCB) tests for up to three healing cycles. The blending strategy does not impart a healing capacity to the FRP due to its discrete and confined morphology; meanwhile, coating the fibres with the PMMA results in healing efficiencies of up to 53% in terms of fracture toughness recovery. This efficiency remains constant, with a slight decrease over three subsequent healing cycles. It has been demonstrated that spray coating is a simple and scalable method of incorporating a thermoplastic agent into an FRP. This study also compares the healing efficiency of specimens with and without a transesterification catalyst and finds that the catalyst does not increase the healing efficiency, but it does improve the interlaminar properties of the material.

Emergence of Elastic Properties in a Minimalist Resilin-Derived Heptapeptide upon Bromination.

Bromination is herein exploited to promote the emergence of elastic behavior in a short peptide-SDSYGAP-derived from resilin, a rubber-like protein exerting its role in the jumping and flight systems of insects. Elastic and resilient hydrogels are obtained, which also show self-healing behavior, thanks to the promoted non-covalent interactions that limit deformations and contribute to the structural recovery of the peptide-based hydrogel. In particular, halogen bonds may stabilize the ß-sheet organization working as non-covalent cross-links between nearby peptide strands. Importantly, the unmodified peptide (i.e., wild type) does not show such properties. Thus, SDSY(3,5-Br)GAP is a novel minimalist peptide elastomer.

Compression Behavior of EBM Printed Auxetic Chiral Structures.

In this study, the cyclic compression and crush behavior of chiral auxetic lattice structures produced from titanium alloy (Ti6Al4V) metallic powder using electron beam melting (EBM) additive manufacturing technology is investigated numerically and experimentally. For material characterization and understanding the material behavior of EBM printed parts, tensile and three-point flexural tests were conducted. Log signals produced during the EBM process were investigated to confirm the stability of process and the health of the produced parts. Furthermore, a compressive cyclic load profile was applied to the EBM printed chiral units having two different thicknesses to track their Poisson's ratios and displacement limits under large displacements in the absence of degradation, permanent deformations and failures. Chiral units were also crushed to investigate the effect of failure and deformation mechanisms on the energy absorption characteristics. Moreover, a surface roughness study was conducted due to high surface roughness of EBM printed parts, and an equation is offered to define load-carrying effective areas to prevent misleading cross-section measurements. In compliance with the equation and tensile test results, a constitutive equation was formed and used after a selection and calibration process to verify the numerical model for optimum topology design and mechanical performance forecasting using a non-linear computational model with failure analysis. As a result, the cyclic compression and crush numerical analyses of EBM printed Ti6Al4V chiral cells were validated with the experimental results. It was shown that the constitutive equation of EBM printed as-built parts was extracted accurately considering the build orientation and surface roughness profile. Besides, the cyclic compressive and crush behavior of chiral units were investigated. The regions of the chiral units prone to prematurely fail under crush loads were determined, and deformation modes were investigated to increase the energy absorption abilities.

Self-repairing systems based on ionomers and epoxidized natural rubber blends.

The development of materials with the ability of intrinsic self-repairing after damage in a fashion resembling that of living tissues has important scientific and technological implications, particularly in relation to cost-effective approaches toward damage management of materials. Natural rubbers with epoxy functional groups in the macromolecular chain (ENR) and ethylene-methacrylic acid ionomers having acid groups partially neutralized with metal ions possess self-repairing behavior following high energy impacts. This research investigates the self-repairing behavior of both ENR and ionomers during ballistic puncture test on the basis of their thermal and mechanical properties. Heterogeneous blending of ionomers and ENR have also been used here as a strategy to tune the thermal and mechanical properties of the materials. Interestingly, blends of sodium ion containing ionomer exhibit complete self-repairing behavior, whereas blends of zinc ion containing ionomer show limited mending. The chemical structure studied by FTIR and thermal analysis shows that both ion content of ionomer and functionality of ENR have significant influence on the self-repairing behavior of blends. The mobility of rubbery phases along with its interaction to ionomer phase in the blends significantly changes the mending capability of materials. The healing behavior of the materials has been discussed on the basis of their thermal, mechanical, and rheological tests for each materials.