Abstract
Self-oscillation is the phenomenon in which a system generates spontaneous, consistent periodic motion in response to a steady external stimulus, making it highly suitable for applications in soft robotics, motors, and mechatronic devices. In this paper, we present a self-oscillator based on liquid crystal elastomer (LCE) fiber under constant voltage. The system primarily consists of an LCE-liquid metal (LCE-LM) composite fiber, a metal mass sphere, and a straight rod featuring both conductive and insulating segments. Building upon an established dynamic LCE model, we derive the governing dynamic equations. Numerical calculations reveal two distinct motion regimes: a static regime and a self-oscillation regime. Furthermore, we provide the temporal behavior curves of electrothermal-induced contraction and tensile force, the phase trajectories variation curves of the equivalent driving force and damping force. These detailed studies elucidate that self-oscillation results from the contraction of the electrothermal-responsive LCE-LM fiber when the circuit is activated, with continuous periodic motion being sustained through the interplay between the metal mass sphere and a self-controlled dynamic circuit. We also investigate the threshold conditions necessary for initiating self-oscillation, as well as the key system parameters that influence its frequency and amplitude. Our self-oscillator demonstrates improved stability by reducing the effects of gravity and other disturbances. Additionally, the curved trajectory of the mass sphere can be achieved by replacing the straight rod with a curved one, resulting in a more flexible and easily controllable structure. Given these characteristics, a self-oscillator system based on LCE-LM fiber may be ideal for creating monitoring and warning devices, dynamic circuit systems, and for integrating actuators and controllers.