Dynamics of viscous liquid within a closed elastic cylinder subject to external forces with application to soft-robotics

Shai B. Elbaz, A. D. Gat

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Viscous flows in contact with elastic structures apply both pressure and shear stress at the solid-liquid interface and thus create internal stress- and deformation-fields within the solid structure. We study the interaction between the deformation of elastic structures, subject to external forces, and internal viscous liquid. We neglect inertia in the liquid and solid and focus on viscous flow through a thin-walled slender elastic cylindrical shell as a basic model of a soft-robot. Our analysis yields an inhomogeneous linear diffusion equation governing the coupled viscous-elastic system. Solutions for the flow and deformation fields are obtained in closed analytical form. The functionality of the viscous-elastic diffusion process is explored within the context of soft-robotic applications, through analysis of selected solutions to the governing equation. Shell material compressibility is shown to have a unique effect in inducing different flow and deformation regimes. This research may prove valuable to applications such as micro-swimmers, micro autonomous systems and soft-robotics by allowing for the design and control of complex time-varying deformation fields.

Original languageEnglish
Title of host publication54th Israel Annual Conference on Aerospace Sciences 2014
Pages1486-1497
Number of pages12
StatePublished - 2014
Event54th Israel Annual Conference on Aerospace Sciences, IACAS 2014 - Tel-Aviv and Haifa, Israel
Duration: 19 Feb 201420 Feb 2014

Publication series

Name54th Israel Annual Conference on Aerospace Sciences 2014
Volume3

Conference

Conference54th Israel Annual Conference on Aerospace Sciences, IACAS 2014
Country/TerritoryIsrael
CityTel-Aviv and Haifa
Period19/02/1420/02/14

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering

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