seoul national university smart structure & design lab...

Seoul National UniversitySmart Structure & Design Lab

ASME Workshop on Multibody and Nonlinear Dynamics

Smart Structure & Design Lab ( ssnd.snu.ac.kr )

Introduction

• Multiscale modeling & simulations

• Photo-Responsive Polymers

• Lithium ion Battery

• System Reduction Method

• Laminated Composites

• Smart Actuators

Smart Structure & Design Lab ( ssnd.snu.ac.kr )

Introduction

- 18 Ph.D students, 7 M.S. students, 8 Post. Doc.

- 1 Professor

Photo-responsive Self-deforming Structures

Introduction

Piezoelectric Material

Shape Memory Alloy (SMA)

PiezomagneticMaterial

PVMS(poly-vinylmethylsiloxane)

Thermal Electricity Magnet Chemical

Force Thermal Electricity ChemicalMagnet Light

v Various kind of Energy Sources for deformation

Introduction

Photo Responsive Polymer

§ Different reactions to Light Wavelength (

UV/Visible/IR )

Visible lightUltraviolet Infrared

IRVisVisUVUV

Main target

• Investigation of Material Behavior

with multiscale simulation

• Synthesize & Fabrication of PRP

• Design a controllable device with PRP

v Liquid Crystal based PRP (Photo-Responsive Polymer)

- Contract & Expand due to the trans-cis photoisomerization

Yanlei.Yu, Soft Matter, 2012

L0L

Trans Cis

- Light irradiation in upper surface inducesbending deformation

Introduction

Stiffner Pattern

Ø Various Bending Behavior with Alignment of Molecules & Stiffner

Simple Bending & Complex Bending

Mesogen Alignment

UV

Lam

p

Complex Bending Behavior

mesogen

Pattern

mesogen

Pattern

mesogen

Pattern

Patterned

None

Patterned

강화재패턴구상

Simple Bending & Complex Bending

ü 강화재와 아조벤젠 배향 및 패턴 설계안

아조벤젠배향

UV

Lam

p

복합거동관측

Patterned

None

Patterned

Patterned

Nonemesogen Pattern

mesogen

Pattern

mesogen

Pattern

mesogen

Pattern

Simple Bending & Complex Bending

Patterned

Patterned

None

Patterned

mesogen

Pattern

mesogen

Pattern

mesogen

Patternmesogen Pattern

Simple Bending & Complex Bending

Patterned

None

Patterned

mesogen

Pattern

mesogen

Pattern

mesogen

Patternmesogen Pattern

PRP Multiscale Analysisv Coupling of Light-Mechanical Behavior

Polymer AlignmentQuantum Mechanics PRP Structure

10-10 10-7 10-4 10-1 102(m)10-9

Phase Transition

Quantum Molecular Mechanics Continuum Mechanics & Multiscale Design

Deformation of PRP

광변형 거동 관측

ü Quantum Mechanics – Molecular Dynamics – Continuum Mechanics

QM FEM

Sub-Atomic Level Macromolecular Structure Nonlinear Continuum Analysis

Energy Level Change with Light Illumination in Single Molecule

cis trans

MD

Multiscale Analysis Methodology

trans-PRP cis-PRP

Macroscopic Deformation

( ),cis cisN N nw q= : Isomerization ratio : Light intensity : Light incident angle

( ),photo photo cisr r N T= : microstructure : temperature

( )( )

( )

photo

photo photo photo

photo

r

r

u u

e e

e

=

=

=

C C : Displacement

C : Stiffnessε : Photo-strain

10-10 10-7 10-4 10-1 102(m)10-9

Quantum Molecular Mechanics Continuum Mechanics & Multiscale Design

Molecular Arrangement & Material Property

Multiscale Analysis Methodology

cis trans

<Alignment change w.r.t photo-isomerization>

Azobenzene

<Photo-isomerization distribution>

10-10 10-7 10-4 10-1 102(m)10-9

Quantum Mechanics & Molecular Design

Multiscale Analysis Methodology

L h

• Simulation with different geometry

• Simulation of buckling behavior

• Optimization of light pattern

Flat → Sphere

ü FE Simulation with the data from QM & MD simulation

10-10 10-7 10-4 10-1 102(m)10-9

Continuum Mechanics & Multiscale Design

Y. Yu et al., Nature, 2003

• Ambient air temperature change

• Light penetration increase

HPC Clusters : 301 1353-1 (132m2)

Computing resources

Computing resourcesHCP Clusters : 301 1353-1 (132m2)

ü Design of photo gripper ü Demonstration of gripping mechanism

Ø Photo-responsive gripping mechanism

Design & production of PRP Application

[Gripping] [Releasing]

VISIBLE INFRARED Transp

arency d

ecrease

Frequency (Hz)Time (s)

Tem

pera

ture

(℃)

Ø Pattern design of light illumination

Hexahedron

Icosahedron

• Optical property

Design & production of PRP Application

Lotus flower

Robot

• Hexahedron • Lotus flower

Hexahedron

Icosahedron

Lotus flower

Robot

Ø Pattern design of light illumination

Design & production of PRP Application

Hexahedron

Icosahedron

Lotus flower

Robot

Ø Pattern design of light illumination

Design & production of PRP Application

à 받침대

접착제

Hexahedron

Icosahedron

Lotus flower

Robot

Ø Pattern design of light illumination

Design & production of PRP Application

Multiscale based design framework of irradiation pattern on the photo-responsive polymer; a topology

optimization

Contents

1. Introduction & Motivation

2. Research Background

3. Results & Discussion

4. Conclusion

Introduction

v Large-scale bending mechanismUV light

PRP specimen) penetration

depth

photostrainResultant Force & Moment

N ph M ph

NematicIsotropic

( )

{ } ( ) ( ){ }

/2 /2

/2 /2

1 1 ,

0

ph h hph phph h h

T Tph ph ph ph ph phx y xy

Ndz C z dz

z zM

z z

s e

e e e g e ne

- -

é ù é ù é ù= =ê ú ê ú ê ú

ë û ë ûë û

= = -

ò ò

Induced force & bending moment

00 0

( ) ( )ln 1I z I z zII I d

té ù æ ö

+ G - = -ç ÷ê úë û è ø

( )( / )0

0

( ) 1 ,z dL

I z W e II

aa a ta

-= = G

( )3

NI NI

NI

1 ( ) for

1 for

T T T Tr

T T

zaì + - £ï= í³ïî

Motivation

v Localized irradiation pattern design for complex structure

• Long-range controllability

• Various mechanical behavior

by light irradiation patternOptimization based pattern searchtechnique is required

Y .Nakabo, Biomimetic soft robots using IPMC

J .Mamiya, Polymer Journal (2013) 45

Contents

1. Introduction & Motivation

2. Research Background

3. Results & Discussion

4. Conclusion

Research Background

v Corotational FE Formulation & Topology optimization

Global totaldisplacement & spins

CR deformationaldisplacement & rotations

§ Illustration of Corotational FEM Concept

§ OPT & DKT plate elementOPTimal Membrane

TriangleDiscrete Kirchhoff

Triangular elementx, y translation

z rotationx, y axis rotation

z translation

Rigid body rotation

0C

RC

DC

0e

Re

Elastic deformation

du

di di i i

di di i i

d d d dd d d dé ù é ù é ù é ùê ú ê ú ê ú ê úë û ë û ë û ë û

u u u u= H = HP = HPT

θ ω ω ωM. Bendsoe, O. Sigmund,

Archive of applied Mechanics, 1999 (635-654)

1

0

min : ( )

( )s.t. ; ; 0 1

NT p T

e e e ee

x

V x f Ku F xV

r=

=

= = £ £

åu Ku u k u

§ Topology optimization

0.5 0.518

phM 18

phM

1

phM

0Penalized( p = 3 )

Efficient Inefficient

- Simulating mechanical behavior : Bending of cantilever, Left edge clamped

Simulation Procedure

v Topology optimization

§ Optimization Analysis Settings

Light IrradiationClamped B.C

8010

2

E = 71.5 kPa

v = 0.49 (incompressible)

v_ph = 0.3

Penetration depth : 0.5

contact point

( )

( ) ( )curv vol

1

min ( )

s.t. ( ) 0 and 0

obj

m

N

ii

f

g g S

S

rr

r k r

r=

- £ - £

=å

u

u

2obj tip target( )= -f u u 1

1Tc

Tobjobj obj

Ti i i

curv curT

i i

urv

i

v

df fd

dg ggd

fr r r

r r r

-

-

¶ ¶= -

¶¶

¶ ¶

¶ ¶= -

¶ ¶

¶

¶RK

RK

u

u

§ Objective function & Constraints § Sensitivity analysis

analyticallyobtained

numericallycomputed

Methodology

v Matching of photostrain with light intensity

PRP specimen) penetration

depth

photostrain

( )

{ } ( ) ( ){ }

/2 /2

/2 /2

1 1 ,

0

ph h hph phph h h

T Tph ph ph ph ph phx y xy

Ndz C z dz

z zM

z z

s e

e e e g e ne

- -

é ù é ù é ù= =ê ú ê ú ê ú

ë û ë ûë û

= = -

ò ò

In-plane force & bending moment

Photostrain model Light intensity model

ü Consider light-thermal-order coupling

ü Light decay profile (Lambert-W fcn.)

ü Constant strain through thickness

ü Photostrain as design variablemax max, 0.5ph p

e ee e r e= × =

( )3

NI NI

NI

1 ( )

1 ( )

T T T Tr

T T

zaìé ù+ - £ïë û= íï ³î

Light incident intensity (by element)

Light profile (Lambert-W)

Steady state cis population

Orientation order

cis 1 1eff

eff

IInI I

tt

¥ G= =

+ G +

Material property, A,B,D matrixIn-plane force & bending moment

Photo-induced strain1

ph

ph

NM

ek

- ì üì ü é ù ï ï=í ý í ýê úï ïî þ ë û î þ

A BB D

( )( / )0

0

( ) 1 ,x dL

I x W e II

aa a ta

-= = G

Methodology

v Matching of photostrain with light intensity

Photostrain model Light intensity model

ü Consider light-thermal-order coupling

ü Light decay profile (Lambert-W fcn.)

ü Constant strain through thickness

ü Photostrain as design variable

Light incident intensity I0& Characteristic depth d

1ph

ph

NM

ek

- ì üì ü é ù ï ï=í ý í ýê úï ïî þ ë û î þ

A BB D

( )11 113

22 222

12 12

1 01 0

12 1 0 0 1

ME tM

M

n kn k

n n k

ì ü é ù ì üï ï ï ïê ú=í ý í ýê ú-ï ï ï ïê ú-î þ ë û î þ

( )

13

11 112

22 22

1112 1

ME tM

k nk nn

-æ öì ü ì üé ùç ÷=í ý í ýê úç ÷- ë ûî þ î þè ø

0I

kd

11k22k

Input :

Initial assumption of design variables

Deformed shape (FEM analysis)

Sensitivity analysis forobjective & constraint

Update design variable

Eigenstrain – light matchingvia photomechanics

Tolerance check for objective & constraint

Obtain photostrain pattern

Methodology

: Control target point & constraint parameters

: Multiscale effect is applied

Obtain light intensity pattern

: FMINCON(Matlab in-built function)

1. Introduction

2. Research Background

3. Results & Discussion

4. Conclusion

Contents

Results & Discussion

Ø Strain distribution profile with constraint difference

Ø Deformation comparison for different flatness constraint location

S = 0.5

S = 0.8

Results & Discussion

Ø Strain pattern change with different target point

S = 0.5

Target

0.6D

0.8D

1.0D

S = 0.8

D = L/(pi/2) ~ 50

Results & Discussion

Ø Path tracing - Programmable bending behavior

Conclusion

Ø Topology-optimization based design method for photo-responsive self-deformingstructure is proposed

Ø By modifying objective function and curvature constraint, versatile mechanical bendingare effectively controlled.

Ø More comprehensive case of simulation should be done for overall understanding ofpattern shape change with design conditions such as geometric properties of specimenor deformation target shape.

• Research Plan

Ø Consider the angel of incident light

Ø Time-dependent dynamic simulation should be considered

Ø Implementing to optical techniques (photomask, light filter, etc…)

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CV Joint Boot

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Parking Brake

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Simulation of the mechanical systems

Development & Research Department

• Solver team – 8 members

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