Fig. 3: Analytical model for pneumatic hybrid oscillator (PHO) to predict oscillation frequency with varying design parameters.
From: A non-electrical pneumatic hybrid oscillator for high-frequency multimodal robotic locomotion
a PHO can be modeled using RC analogue electrical circuit. One oscillation period contains two deformation processes with one chamber inflating and the other deflating, shown by flow-indicating diagrams and two snap-through processes. b–d Characteristic values of electronic components including capacitance of chamber, capacitance for elastic beam, and valve blocking factor over design parameters, guiding the optimized design for higher frequency. Rf represents the equivalent resistance of the valve, while the Rall is the maximum value of Rf. e–g Predictions from the analytical RC circuit model (dashed lines) and experiment data points of oscillation frequency for PHOs with distinct normalized length and bending stiffness. Error bars represent the standard deviation of the measured oscillation frequency from 10 measurements.
