Nonlinear dynamic and stability analysis of soft fluidic robotic system with reduced computational cost

Abstract

The fluid-filled network of channels embedded into the soft body can be introduced as a bending actuator for the soft robot. The supporting elastic structure is deformed from the pressurized fluid into the channels. We present a strategy for solving nonlinear motion equations of a precise model at a low computational cost. The general procedure for deriving and solving equations of motion is discussed, and a semi-analytic solution is proposed. A comprehensive parameter study of selected design parameters’ influence on the actuation system is investigated, disclosing that high efficiency could be achieved at the multi-order resonances with the stability analysis.

Keywords:

• Nonlinear system
• dynamic analysis
• soft robot
• fluidic network
• complex averaging
• continuation method

Conflict of interest statement

The authors declare no conflict of interest in preparing this article.

Additional information

Funding

This research received no specific grant from any funding agency in the public, commercial, or not-for-profit sectors.