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soft continuum robots

Ajeet Kumar's picture

A magnetoelastic theory for Kirchhoff rods having uniformly distributed paramagnetic inclusions and its buckling

We present a theory for finite and spatial elastic deformation of rods under the influence of arbitrary magnetic field and boundary condition. The rod is modeled as a Kirchhoff rod and is assumed to have uniformly distributed array of uniaxial spheroidal paramagnetic inclusions embedded in it all pointing in the same direction in the undeformed state. The governing equations of the magnetoelastic rod are derived which are further non-dimensionalized and linearized to investigate buckling in such rods.

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