Sébastien Neukirch
Institut Jean le Rond d'Alembert
Centre National de la Recherche Scientifique
Université Pierre et Marie Curie
Paris, France

tel: +33 1 44 27 72 61
fax : +33 1 44 27 52 59
e-mail: sebastien.neukirch (-atat-) upmc.fr

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Asymptotic self-restabilization of a continuous elastic structure

F. Bosi, D. Misseroni, F. Dal Corso, S. Neukirch, and D. Bigoni

Phys. Rev. E.. vol. 94 (2016) 063005

Abstract : 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.

DOI: 10.1103/PhysRevE.94.063005

Please note that Eq.(9) has a typo: it should be a PLUS sign !

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