Active flexible rods with embedded SMA fibers

Embedding of shape memory alloy (SMA) fibers in slender flexible bodies results in shape changes of the host medium, whenever shape recovery of the SMA fibers takes place. The shape change of a cylindrical rod with a single off-axis embedded SMA fiber is modeled. The distributed axial compressive force and bending moment due to phase transformation in the SMA fiber is evaluated using an approximate analytical model and the deformed shape of the flexible rod is found by solving the equations of equilibrium of the rod. The stability analysis for the linearized theory is carried out and the critical value of the phase transformation induced strain for buckling is evaluated.