Automated Stability Testing of Elastic Rods With Helical Centerlines Using a Robotic System

Experimental analysis of the mechanics a deformable object, and particularly its stability, requires repetitive testing and, depending on complexity object’s shape, setup that can manipulate many degrees freedom at boundary. Motivated by recent advancements in robotic manipulation objects, this letter addresses these challenges constructing method for automated stability slender elastic rod — canonical example object using system. We focus configurations with helical centerlines since be described only three parameters, but experimentally determining both position orientation one end rod, which is not possible traditional experimental methods actuate limited number freedom. Using geometric characterization rods, we construct implement scheme to explore space stable helices, use vision system detect onset instabilities within space. The results obtained our show good agreement numerical simulations rods configurations. lay groundwork automation grow field mechanics.