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From the elastica compass to the elastica catapult: an essay on the mechanics of soft robot arm
2017
Proceedings of the Royal Society A
An elastic rod is clamped at one end and has a dead load attached to the other (free) end. The rod is then slowly rotated using the clamp. When the load is smaller than the buckling value, the rod describes a continuous set of quasi-static forms and its end traces a (smooth, convex and simple) closed curve, which would be a circle if the rod were rigid. The closed curve is analytically determined through the integration of the Euler's elastica, so that for sufficiently small loads the
doi:10.1098/rspa.2016.0870
pmid:28293144
pmcid:PMC5332619
fatcat:7pyfjndtgrewjpgf75fwclk54i