Quasi-static shape control of soft, morphing structures
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arXiv
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| Hauptverfasser: | , , |
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| Format: | Preprint |
| Veröffentlicht: |
2025
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| _version_ | 1866908542617780224 |
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| author | Fehér, Eszter Sipos, András Árpád Várkonyi, Péter |
| author_facet | Fehér, Eszter Sipos, András Árpád Várkonyi, Péter |
| contents | Inspired by biological systems, we introduce a general framework for quasi-static shape control of human-scale structures under slowly varying external actions or requirements. In this setting, shape control aims to traverse the stable sub-manifolds of the equilibrium set to meet some predefined requirements or optimization criteria. As finite deformations are allowed, the equilibrium set may have a non-trivial topology. This paper explores the implications of large shape changes and high compliance, such as the emergence of unstable equilibria and equilibrium sets with non-trivial topology. We identify various adaptivity scenarios, ranging from inverse kinematics to optimization and path planning problems, and discuss the role of time-dependent loads and requirements. The applicability of the proposed concepts is demonstrated through the example of a curved Kirchhoff rod that is susceptible to snap-through behavior. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_12916 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Quasi-static shape control of soft, morphing structures Fehér, Eszter Sipos, András Árpád Várkonyi, Péter Soft Condensed Matter Inspired by biological systems, we introduce a general framework for quasi-static shape control of human-scale structures under slowly varying external actions or requirements. In this setting, shape control aims to traverse the stable sub-manifolds of the equilibrium set to meet some predefined requirements or optimization criteria. As finite deformations are allowed, the equilibrium set may have a non-trivial topology. This paper explores the implications of large shape changes and high compliance, such as the emergence of unstable equilibria and equilibrium sets with non-trivial topology. We identify various adaptivity scenarios, ranging from inverse kinematics to optimization and path planning problems, and discuss the role of time-dependent loads and requirements. The applicability of the proposed concepts is demonstrated through the example of a curved Kirchhoff rod that is susceptible to snap-through behavior. |
| title | Quasi-static shape control of soft, morphing structures |
| topic | Soft Condensed Matter |
| url | https://arxiv.org/abs/2509.12916 |