By embedding actuators within a compliant structure (compliant mechanism), it is possible to develop adaptive system, that is, a shape morphing structure that is capable of producing many different shapes of its output surface. Such structures are of interest for a number of applications. This article presents the new solution of adaptive shape morphing compliant structure with embedded actuators that is capable of changing its shape on demand to meet various performance requirements; the physical prototype of this structure is manufactured. Upgraded approach to the synthesis of compliant mechanisms with embedded actuators is also presented. The existing design methodology for simultaneous synthesis of compliant mechanism and actuator placement often produces compliant system with intersecting structural elements as well as actuators which is very difficult to manufacture. Thus, the design methodology is improved so that compliant systems are obtained without intersecting elements. The scalability of the shape morphing compliant structure is investigated as well. Two possible applications of the novel developed shape morphing structure are presented, for adaptive compliant gripper and shape morphing wing that resembles the profile of a bird wing.
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