Quasi-static shape control of soft, morphing structures
Eszter Fehér, András Árpád Sipos, Péter Várkonyi · arXiv · 2025
A general quasi-static shape-control framework for soft morphing structures is developed, analyzing how large deformations and compliance affect equilibrium topology and stability, illustrated with a snap-through-prone Kirchhoff rod.
Plain English summary
Why this matters
Key findings
- Introduces a general framework for quasi-static shape control of soft, morphing structures under slowly varying actions/requirements.
- Shows that finite deformations can lead to equilibrium sets with non-trivial topology, affecting shape-control behavior.
- Analyzes how large shape changes and high compliance can produce unstable equilibria.
- Identifies adaptivity scenarios spanning inverse kinematics, optimization, and path planning, including the role of time-dependent loads/requirements.
- Demonstrates applicability with a curved Kirchhoff rod susceptible to snap-through.
Limitations
The abstract does not specify experimental validation, quantitative performance metrics, or comparisons to prior methods; it only states that applicability is demonstrated via an example (curved Kirchhoff rod).
Publication
- Publisher
- arXiv
- Publication date
- September 16, 2025
- Research type
- Preprint
- arXiv
- 2509.12916
- Access
- open
Tags
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