Stability analysis through folds: An end-loaded elastica with a lever arm

TL;DR

This paper introduces a method for analyzing stability in variational problems with fixed-free ends, using bifurcation diagrams to study an elastica with a lever arm and identify snap-back instabilities relevant to soft robotics.

Contribution

It identifies specific projections for stability analysis in variational problems with fixed-free ends and applies this to an elastica with a lever arm, revealing instability phenomena.

Findings

Multiple equilibria coexist in the studied system.

Snap-back instabilities depend on system parameters.

The approach aids in designing soft robotic actuators.

Abstract

Many physical systems can be modelled as parameter-dependent variational problems. In numerous cases, multiple equilibria co-exist, requiring the evaluation of their stability, and the monitoring of transitions between them. Generally, the stability characteristics of the equilibria change near folds in the parameter space. The direction of stability changes is embedded in a specific projection of the solutions, known as distinguished bifurcation diagrams. In this article, we identify such projections for variational problems characterized by fixed-free ends - a class of problems frequently encountered in mechanics. Using these diagrams, we study an Elastica subject to an end load applied through a rigid lever arm. Several instances of snap-back instability are reported, along with their dependence on system parameters through numerical examples. These findings have potential applications in the design of soft robot arms and other actuator designs.