Two-way Antagonistic Shape Actuation Based on the One-way Shape Memory Effect

The stress created by the austenite transformation of mechanically constrained NiTi shape memory alloys (SMAs) significantly exceeds that required to deform (detwin) its low temperature martensitic phase. The one-way shape memory effect can therefore be used to create antagonistic, fully reversible flexural shape morphing structures by assembling opposing pairs of linear contractile SMA actuators. These structures possess two distinct inactive configurations, neither of which requires continuous power for shape retention making them potentially suitable for long-term applications. Here, the shape changes of a representative antagonistic flexural unit cell have been experimentally evaluated, and the effect of the pre-strain of near equiatomic NiTi alloys on the actuation strain has been analyzed and discussed. The predicted deformations are then successfully compared to the response of prototype actuators.