Liu, J., Jiang, D., Li, Z., He, J., Jian, L., Wang, H., Wen, G., Wang, Z.-P., & Xie, Y. M. (2025). On the nonlinear dynamic performance of a novel bistability-driven soft robot. Advances in Engineering Software, 206, 103940. https://doi.org/10.1016/j.advengsoft.2025.103940
Abstract:
Soft robots have many advantages, including large deformation and excellent motion capability in complex environments. Finding the dynamic behaviour of soft robots is essential for their control and performance optimization. This work has theoretically and experimentally studied the nonlinear dynamic performances of a novel bistability-driven soft robot. The bistable structure consists of a soft spine, an origami shell, and tension springs, which is the critical component to drive the soft robot to move fast, but also generates complex nonlinear dynamic behavior. A nonlinear dynamic model of the soft robot is established based on the piecewise constant curvature method, the generalized coordinate, and Lagrange equations. Extensive experiments have been conducted to investigate the nonlinear dynamic performance of the soft spine, the bistable structure, and the soft robot. Dynamic tests have verified the effectiveness of the theoretical model in terms of the bending angle, velocity, and acceleration changes with time and the deformation morphology at limit states. Results show that the soft robot can switch between two stable states in 0.5 s and rapidly stabilize, enabling rapid movement.
License type:
Publisher Copyright
Funding Info:
This research / project is supported by the Agency for Science, Technology and Research - 4D Additive Manufacturing (4DAM) of Smart Structures
Grant Reference no. : M24N3b0028