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

摘要

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.