Aim: 

• Study transient chaotic behavior of highly nonlinear and underactuated robot whip

Technical Problem: 

• The existing dynamic model requires a significant computation load

Novel Approach:

• Applied Pseudo-Rigid-Body Model (PRBM) with 4 pseudo joints to simulate the soft bending motion and dynamic behavior

Results:

• Successfully simulated Transient chaotic behavior of soft robot whip with PRBM

• Studied the effect of driving torque, gravitation, and stiffness of whip material 

• Whip generated a 3-time velocity and 43-time acceleration faster than rigid stick, with the same amount of driving torque

Soft Robot kinematic and dynamics modeling and simulation with Wolfram Mathematica

Non-linear control theory, specifically chaotic theory

Thomas M. Kwok, “The Chaotic Behavior of Robot Whip and Experiment Validation,” M.Phil. dissertation, The Chinese University of Hong Kong, 2019

Thomas M. Kwok, Zheng Li, Ruxu Du, Guanrong Chen, “Modeling and Experimental Validation of the Chaotic Behavior of a Robot Whip,” Journal of Mechanics, pp. 1-22, 2019.

Thomas M. Kwok, Yong Zhong, Ruxu Du, “Dynamic Modeling and Experimental Validation of a Robotic Whip,” in Proceedings of CAD’18 Conference and Exhibition, pp. 47-53, 2018.