Controlled Locomotion of a Minimal Soft Structure by Stick-Slip Nonlinearity
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arXiv
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| Hauptverfasser: | , , , |
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| Format: | Preprint |
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2024
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| _version_ | 1866915057054515200 |
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| author | Barois, Thomas Boucherie, A. Tadrist, L. Kellay, H. |
| author_facet | Barois, Thomas Boucherie, A. Tadrist, L. Kellay, H. |
| contents | We present a locomotion mechanism that uses the stick-slip transition of a soft passive structure with an internal mechanical resonance. The structure is harmonically driven by a global vertical shaking and, because of its resonance dephasing and the threshold response of stick-slip transition, it can either move forward or backward. We establish a relation for the motion acceleration threshold that we experimentally validate. We identify a non-trivial regime close to the resonance with a velocity inversion for a constant excitation frequency and an increasing driving amplitude. We finally show that we can achieve a controlled multi-modal motion by combining multiple internal resonances. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2412_07343 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Controlled Locomotion of a Minimal Soft Structure by Stick-Slip Nonlinearity Barois, Thomas Boucherie, A. Tadrist, L. Kellay, H. Soft Condensed Matter We present a locomotion mechanism that uses the stick-slip transition of a soft passive structure with an internal mechanical resonance. The structure is harmonically driven by a global vertical shaking and, because of its resonance dephasing and the threshold response of stick-slip transition, it can either move forward or backward. We establish a relation for the motion acceleration threshold that we experimentally validate. We identify a non-trivial regime close to the resonance with a velocity inversion for a constant excitation frequency and an increasing driving amplitude. We finally show that we can achieve a controlled multi-modal motion by combining multiple internal resonances. |
| title | Controlled Locomotion of a Minimal Soft Structure by Stick-Slip Nonlinearity |
| topic | Soft Condensed Matter |
| url | https://arxiv.org/abs/2412.07343 |