{"paper_id":"4804f382-5a6e-4d05-8041-43b664d9fb2f","body_text":"Vibration Analysis of a Soft Hydrodynamic Manipulator | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Article Vibration Analysis of a Soft Hydrodynamic Manipulator Sabi Jahan Maliha, Tasnemul Hasan Nehal, Shugata Ahmed, Muhammad Hasibul Hasan This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-4380124/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract Soft robotic manipulators, driven by fluidic actuation, surpass rigid counterparts with increased degrees of freedom, enabling exploration of intricate workspaces. Despite potential vibrations from power fluctuations, these can be mitigated using damping fluids. This paper focuses on experimentally analyzing the vibrations of a soft hydrodynamic manipulator. To this end, a soft manipulator was fabricated, and a corresponding test setup was devised. Employing three distinct test fluids water, engine oil, and mustard oil with large viscosity variations, the research characterized vibrations through the ripple factor. This metric was computed based on temporal shifts in linear and angular displacements across various planes. Notably, the findings indicate that, owing to its lower viscosity, water exhibits maximum deflection at a higher Reynolds number (Re ≥ 100) compared to engine oil (Re= 9.3) and mustard oil (Re= 8.31). Additionally, the ripple factors suggest that, for water, vibration is higher those observed in the other two test fluids. Physical sciences/Engineering Physical sciences/Engineering/Mechanical engineering Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {\"props\":{\"pageProps\":{\"initialData\":{\"identity\":\"rs-4380124\",\"acceptedTermsAndConditions\":true,\"allowDirectSubmit\":true,\"archivedVersions\":[],\"articleType\":\"Article\",\"associatedPublications\":[],\"authors\":[{\"id\":304028298,\"identity\":\"f022a3b9-c4e4-4f09-8354-3a270c233e43\",\"order_by\":0,\"name\":\"Sabi Jahan Maliha\",\"email\":\"\",\"orcid\":\"\",\"institution\":\"University of Dhaka\",\"correspondingAuthor\":false,\"submittingAuthor\":false,\"prefix\":\"\",\"firstName\":\"Sabi\",\"middleName\":\"Jahan\",\"lastName\":\"Maliha\",\"suffix\":\"\"},{\"id\":304028299,\"identity\":\"295fa9b4-3c45-4aff-b54a-0b03e8ca5f19\",\"order_by\":1,\"name\":\"Tasnemul Hasan Nehal\",\"email\":\"\",\"orcid\":\"\",\"institution\":\"King Fahd University of Petroleum and Minerals\",\"correspondingAuthor\":false,\"submittingAuthor\":false,\"prefix\":\"\",\"firstName\":\"Tasnemul\",\"middleName\":\"Hasan\",\"lastName\":\"Nehal\",\"suffix\":\"\"},{\"id\":304028300,\"identity\":\"a61f71e9-aa49-460a-8ebb-fd6a4c83808c\",\"order_by\":2,\"name\":\"Shugata Ahmed\",\"email\":\"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAABDElEQVRIiWNgGAWjYDACCShtAGPzMySABRIYDuDTkoCkRbKBZC0GBwhokZ/dY/zi5w87eXOxwwdvMO7ZJmd8PMeA4UcNQx4fDi0Gd86YWfYkJBvunJ2WbMHw7Lax2Zk3Bow9xxiKJXFpkcgxM+BJYGbccDvHTILhwO3EbTeAtvA2MCRuwOWwGTlmhn8S6u033M7/BtJSv3lGjgHjXzxaGG7kGD/mSTicCLSFDaQlAWivATM+WwxupJUxy6QdT95wO83YIuHAbcMZZ54VHJY5JoHTL/Izkjd/fGNTbbvhdvLDGx8O3Jbnb0/e+PBNjQ3OEAMCNgk4MwFKH0CkCqyA+QM+2VEwCkbBKBgFDADNdGYE0Tn/0AAAAABJRU5ErkJggg==\",\"orcid\":\"\",\"institution\":\"University of Dhaka\",\"correspondingAuthor\":true,\"submittingAuthor\":false,\"prefix\":\"\",\"firstName\":\"Shugata\",\"middleName\":\"\",\"lastName\":\"Ahmed\",\"suffix\":\"\"},{\"id\":304028301,\"identity\":\"5a81b6ae-628d-40bd-b369-2ca71eab38ac\",\"order_by\":3,\"name\":\"Muhammad Hasibul Hasan\",\"email\":\"\",\"orcid\":\"\",\"institution\":\"Ryerson University\",\"correspondingAuthor\":false,\"submittingAuthor\":false,\"prefix\":\"\",\"firstName\":\"Muhammad\",\"middleName\":\"Hasibul\",\"lastName\":\"Hasan\",\"suffix\":\"\"}],\"badges\":[],\"createdAt\":\"2024-05-07 04:12:11\",\"currentVersionCode\":1,\"declarations\":\"\",\"doi\":\"10.21203/rs.3.rs-4380124/v1\",\"doiUrl\":\"https://doi.org/10.21203/rs.3.rs-4380124/v1\",\"draftVersion\":[],\"editorialEvents\":[],\"editorialNote\":\"\",\"failedWorkflow\":false,\"files\":[{\"id\":60827937,\"identity\":\"9356d552-3cc4-4806-be98-7ef90ffc26b0\",\"added_by\":\"auto\",\"created_at\":\"2024-07-22 14:24:39\",\"extension\":\"pdf\",\"order_by\":1,\"title\":\"\",\"display\":\"\",\"copyAsset\":false,\"role\":\"manuscript-pdf\",\"size\":1822124,\"visible\":true,\"origin\":\"\",\"legend\":\"\",\"description\":\"\",\"filename\":\"VibrationAnalysisofaSoftHydrodynamicManipulator.pdf\",\"url\":\"https://assets-eu.researchsquare.com/files/rs-4380124/v1_covered_dc123045-d090-41f3-bb20-34c040580b0c.pdf\"}],\"financialInterests\":\"No competing interests reported.\",\"formattedTitle\":\"Vibration Analysis of a Soft Hydrodynamic Manipulator\",\"fulltext\":[],\"fulltextSource\":\"\",\"fullText\":\"\",\"funders\":[],\"hasAdminPriorityOnWorkflow\":false,\"hasManuscriptDocX\":false,\"hasOptedInToPreprint\":true,\"hasPassedJournalQc\":\"\",\"hasAnyPriority\":false,\"hideJournal\":true,\"highlight\":\"\",\"institution\":\"\",\"isAcceptedByJournal\":false,\"isAuthorSuppliedPdf\":true,\"isDeskRejected\":\"\",\"isHiddenFromSearch\":false,\"isInQc\":false,\"isInWorkflow\":false,\"isPdf\":true,\"isPdfUpToDate\":true,\"isWithdrawnOrRetracted\":false,\"journal\":{\"display\":true,\"email\":\"info@researchsquare.com\",\"identity\":\"researchsquare\",\"isNatureJournal\":false,\"hasQc\":true,\"allowDirectSubmit\":true,\"externalIdentity\":\"\",\"sideBox\":\"\",\"snPcode\":\"\",\"submissionUrl\":\"/submission\",\"title\":\"Research Square\",\"twitterHandle\":\"researchsquare\",\"acdcEnabled\":true,\"dfaEnabled\":false,\"editorialSystem\":\"\",\"reportingPortfolio\":\"\",\"inReviewEnabled\":false,\"inReviewRevisionsEnabled\":true},\"keywords\":\"\",\"lastPublishedDoi\":\"10.21203/rs.3.rs-4380124/v1\",\"lastPublishedDoiUrl\":\"https://doi.org/10.21203/rs.3.rs-4380124/v1\",\"license\":{\"name\":\"CC BY 4.0\",\"url\":\"https://creativecommons.org/licenses/by/4.0/\"},\"manuscriptAbstract\":\"Soft robotic manipulators, driven by fluidic actuation, surpass rigid counterparts with increased degrees of freedom, enabling exploration of intricate workspaces. 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