Programming the deformation of a temperature-driven bilayer structure in 4D printing

4D printing deforms a 2D foldable structure to another shape evolve over time by using heterogeneous material. The deformation of the 2D foldable structure is stimulated by actuators that are fabricated by shape memory materials or bilayer structures. Therefore, the deformation programming method of actuators is a critical technology in 4D printing. This paper proposes a method for programming the deformation of a temperature-driven bilayer structure actuator in 4D printing. The thermo-mechanical mechanism of the bilayer structure actuator is analyzed and three kinds of deformation behavior are modeled. Then a constitutive model with five main deformation programming parameters including the line width, the print height, the print temperature, the filled form, and the stimulation temperature is fitted by the orthogonal experiment and response surface method. The permanent deformation of the bilayer structure actuator results from the programmed parameters and time evolution of the 3D printed structure upon heating. A typical temperature shape memory material polylactic acid is used as a case study to illustrate the methodology and a desired programmed deformation is achieved.