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Presentation Outline
Introduction Review
Previous Work Objectives of Current Work Fabrication and Processing Experimental Data Nonlinear Model and Predictions Demonstrate Simple Application (Rubber Muscle) Conclusions Questions
Introduction to Research
What are Fiber-Reinforced Elastomers (FRE)? Flexible rubber structures with embedded fibers Tires - rigid, linear properties, low elongation Why conduct research? Increase awareness Resolve processing and experimental issues Improve predictive capability Create new applications
Flexible underwater vehicles Aircraft surfaces Bio-mechanical devices Inflatable space structures
Previous Work
Processing and Experimental Philpot et al. -- Conducted filament winding with elastomers, concerned with elastomer curing. Krey, Chou, and Luo -- Arranged fibers by hand, 1-2% fibervolume processes, have potential for fiber mis-alignment. Bakis & Gabrys -- Elastomer as matrix for composite flywheels. Theoretical Lee et al. -- Conducted tire research (linear material models), Clark -- Used a bi-linear stress-strain model on tire-composites. Chou, Luo -- Specimens had wavy fibers, model used quadratic material nonlinearity, considered strains up to 20%.
Flexible micro-actuators, rubber fingers, snakes were found at Toshiba, Okayama Univ., and Okayama Science Univ.
Objectives of Research
Fabrication Develop low-cost (non-calendering) fabrication technique, with high fiber volume fractions, high quality specimens. Fabricate simple application. Experiment Characterize elastomer, fiber and FRE properties. Obtain high quality test results from FRE angle-ply specimens. Theory Modify laminated plate model to include material and geometric nonlinearity. Predict response of FRE rubber muscle application.
Materials Used
Fibers:
PP&G 1062 High strength, high stiffness, common aerospace fiber. Cotton Wellington twine
Fiberglass
Used in Japan, fibrils promote adhesion, inexpensive.
Urethane Rubber
Ciba RP 6410-1
Yellow, 2-part, low viscosity, 330% elongation softens as stretched, exhibits good adhesion with fiberglass and cotton.
Fibers wound, Elastomer applied to dry fibers, Teflon-coated peel-ply wrapped over elastomer and fiber layer, Process is repeated for 4 or 5 layers.
Prepreg is laminated using silicone or urethane rubber. Vacuum-bagged again. Cured in autoclave again.
Dry cotton Rubberimpregnated cotton Fiberglass not tested Fiber-Reinforced Elastomer Coupons
4 specimens each at 0, 15, 30, 45, 60, 75, 90
Fibers
Silicone/cotton,
Urethane/cotton,
Silicone/fiberglass,
Urethane/fiberglass.
cotton - impregnated
Stress (MPa)
50 45
Silicone
40 35
cotton
Urethane
- impregnated
Stress (psi)
12
2500
10
Stress (MPa)
2000
Stress (MPa)
12 10 8 6 4 2 0 0
Stress (psi)
1500
6 4 2
1000
500
0
0 0.25 0.5 0.75 1 1.25 1.5 1.75 Strain (m/m)
Strain (m/m)
Stress (psi)
Silicone/Cotton s/c 0 avg s/c 15 avg s/c 30 avg s/c 45 avg s/c 60 avg s/c 75 avg s/c 90 avg silicone rubber
12
2000
10 8 6 4 2
Stress (MPa)
Stress (psi)
8 6 4 2 0 0 0.2 0.4
1000
500
0 0.6 0.8 1
Strain (m/m)
Stress (psi)
10
Stress (MPa)
1500
Silicone/Glass s/g 0 avg s/g 15 avg s/g 30 avg s/g 60 avg s/g 75 avg s/g 90 avg silicone rubber
1000
7000 6000
Urethane/fiberglass Urethane/cotton Silicone/fiberglass Silicone/cotton
1000
5 4 3 2
800
600
600
400
400
Strain (m/m)
G12 vs ex E2 vs ex Nonlinearity a function of elastomer matrix. Magnitude a function of Vf and fiber type.
800
Assumes small strains and material properties are constant. E1 E2, G12, n12 stiffnesses Qij. Qij rotated Qij. Rotated stiffnesses assembled for each layer, become laminate stiffnesses Aij, Bij, and Dij.
Laminate forces Ni, and moments Mi; Ni=[Aij]{ej}+[Bij]{kj}, Mi =[Aij]{ej}+[Bij]{kj}, ej - midplane strains, kj - curvatures. The modified theory considers nonlinear material properties and nonlinear strain-displacement theory.
Ogden model
s =S cj(abj-1-a-(1+0.5bj))
Polynomial Model
s = 2(a-a-2)(c1+c2a-1)
s =2(c1a-c2/a3+c3(1/a3-a))
a (extension ratio) = e +1
1000
=S cj((bj-1)abj-2+(1+.5bj)a-(2+0.5bj))
6 constants: c1, c2 , c3, b1,b2, b3.
50
250
Geometrically nonlinear strain-displacement relations. Includes high elongation terms. Addition of nonlinear components changes method of solution to iterative or incremental. Load is incrementally applied in form of strain. Fiber re-orientation is function of geometry.
2500
2000
s/g predicted
1000 800 600 400 200 0 0 0.5 1 1.5 Strain (in/in) 2 2.5
Stress (psi)
u/c avg
1500
u/c predicted
1000
500
Vf=12.1%
Vf=62.4%
18
3000 2500
Stress (psi)
Stress (MPa)
16 14 12 10 8 6 4 2 0 0 0.5
12 8 4 0 0 0.5
1 Strain (m/m)
1.5
Vf = 17.9%
Vf = 59.4%
Stress (psi)
16
2500 2000
Poisson's ratio, v xy
30 25 20 15 10 5 0 0 15 30 45 60 Off-axis angle, q
75
90
Nonlinear model will predict Poissons ratios at each angle, and as a function of strain. Poissons ratios may be nonlinear.
20
40
60
0
30
Pressure (psi)
20
40
60
30
600
25 25 20
Fiber Angle (degrees)
500
Fiber Angle (degrees)
Force (lbs.)
20
15
Silicone/Cotton
15
200 100 0
10 5
10 5
Conclusions - Fabrication
Modified standard composites processes to fabricate high quality fiber-reinforced elastomer prepreg Fiber-rubber adhesion -- Autoclave pressure, primer, careful choice of fiber/elastomer combinations. High fiber volume fraction -- Filament winder allows user to adjust fraction (12% - 62%). Parallel, straight fibers -- Caul plate, filament winder, and rectangular mandrel.
Conclusions - Experimental
Acquired high quality elastomer, fiber, and FRE stressstrain results and nonlinear properties. Elastomer stress-strain results show nonlinear trends. Extensional stiffnesses for rubber-impregnated cotton are 74% to 128% higher than for dry cotton. New test fixture works well (except with 0 fiberglassreinforced rubber). Nonlinearity is a function of elastomer and fiber angle. Shear and transverse properties functions of Vf , fiber type, and elastomer type. Nonlinear material properties used in nonlinear CLT model.