Fig. 3: Characterization, modeling, and control of the 2D bending SMM.
From: Embedded shape morphing for morphologically adaptive robots
a Characterization for the variable-stiffness strategy: the temperature and storage modulus change with respect to time for the SMP spine during a whole morphing process. b Characterization for the actuation strategy: actuation of the sheathed TCA with respect to time under different but constant input voltages. c The steady-state bending angle corresponding to different constant voltages for Ut. d The steady-state angles with respect to Ut for both the experimental results and the analytical simulations. e The experimental results for the relationship between the TCA’s resistance and the module’s bending angle with a third-order polynomial fitting of the relationship. f The comparison between the open-loop control with a constant Ut = 3 V and the closed-loop control with the resistance self-sensing. The inset shows the bending angle in the first 10 s. The solid lines are an average of three experiments, and shaded regions or error bars show one standard deviation from the mean.
