Asymptotic self-restabilization of a continuous elastic structure

作者：Bosi F; Misseroni D; Dal Corso F; Neukirch S; Bigoni D

来源：Physical Review E, 2016, 94(6): 063005.

DOI：10.1103/PhysRevE.94.063005

A challenge in soft robotics and soft actuation is the determination of an elastic system that spontaneously recovers its trivial path during postcritical deformation after a bifurcation. The interest in this behavior is that a displacement component spontaneously cycles around a null value, thus producing a cyclic soft mechanism. An example of such a system is theoretically proven through the solution of the elastica and a stability analysis based on dynamic perturbations. It is shown that the asymptotic self-restabilization is driven by the development of a configurational force, of similar nature to the Peach-Koehler interaction between dislocations in crystals, which is derived from the principle of least action. A proof-of-concept prototype of the discovered elastic system is designed, realized, and tested, showing that this innovative behavior can be obtained in a real mechanical apparatus.

• 出版日期2016-12-27