Behavioral modeling of knitted shape memory membrane

Programmable matter is a system of elements (e.g., smart matters, modular robots, …) that is programmed via user input or autonomous sensing to form a certain shape, by altering its physical characteristics. This paper presents a programmable and reusable device to be used, for example in 4D prototyping and Haptics, using the shapeshifting abilities of smart materials such as shape memory alloys to exhibit a certain behavior controlled by stimulus (heat energy). More precisely, these materials can be programmed and integrated into devices or systems to function according to suitable configurations and conditions (e.g., shape making), via stimuli control as programming means, and wherein the behavior can be modelized using appropriate equations. The programmable device presented in this paper is a shape memory membrane, that makes 3D forms out of a knitted architecture to match a target model, using the shape memory effect. Simulation results using COMSOL are presented and analyzed to model the thermo-mechanical behavior and establish the device’s programming model.