Kinematics and statics of robotic catapults based on the closed elastica

Two types of robotic catapults based on the closed elastica are proposed as robotic elements for generating impulsive motions. To obtain impulsive motions, these catapults utilize the snap-through buckling of an elastic material induced by applying driving torques to the ends of the elastic strip. In this paper, we show the effectiveness of the various types of the robotic catapults based on the kinematics and statics of a serial- chain approximation model. The numerical simulations show that these catapults can increase the elastic energy necessary for impulsive motions even if the driving torques decrease.