Fused deposition modeling (FDM) 3D printing naturally allows for shape memory programming of extruded thermoplastic polymers during the extrusion/solidification process, which has an inherent compatibility with direct 4D printing. However, the current FDM-based 4D printing methods with non-ideal processing conditions or reduced miscibility of heterogeneous materials increase the microscopic defects that deteriorate the interfacial strength. Herein, we propose a nozzle-size-encoded direct 4D printing approach that achieves tailorable shapeshifting and enhanced interfacial strength. A linear correlation between the heat-induced shrinkage strain of printed filaments and the normalized outlet diameter of the print nozzle is mathematically derived, and validated through experiments. Based on this mechanism, we design laminated structures that serve as basic units to construct self-deployable lattice networks exhibiting bidirectional shrinkage, zero Poisson’s ratio, or unidirectional elongation. Moreover, by virtue of the good chain miscibility of a single type of thermoplastic polymer, the dual-nozzle-size-printed polylactic acid (PLA) specimen shows higher interfacial strength than the conventional PLA-thermoplastic urethane (TPU) bilayer design. Overall, the proposed method provides a simple yet high-quality route for creating complex structures via stimuli-responsive shapeshifting, paving the way for potential applications in smart metamaterials and deployable structures.
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