Analysis and optimization of the active rigidity joint

The active rigidity joint is a composite mechanism using shape memory alloy and shape memory polymer to create a passively rigid joint with thermally activated deflection. A new model for the active rigidity joint relaxes constraints of earlier methods and allows for more accurate deflection predictions compared to finite element results. Using an iterative process to determine the strain distribution and deflection, the method demonstrates accurate results for both surface bonded and embedded actuators with and without external loading. Deflection capabilities are explored through simulated annealing heuristic optimization using a variety of cost functions to explore actuator performance. A family of responses presents actuator characteristics in terms of load bearing and deflection capabilities given material and thermal constraints. Optimization greatly expands the available workspace of the active rigidity joint from the initial configuration, demonstrating specific work capabilities comparable to those of muscle tissue.