Related papers: Dynamics of a 3D Elastic String Pendulum
String vibration represents an active field of research in acoustics. Small-amplitude vibration is often assumed, leading to simplified physical models that can be simulated efficiently. However, the inclusion of nonlinear phenomena due to…
This paper considers the coupled problem of a three-dimensional elastic body and a two-dimensional plate, which are rigidly connected at their interface. The plate consists of a plane elasticity model along the longitudinal direction and a…
A homogeneous elastic solid, bounded by a flat surface in its unstressed configuration, undergoes a finite strain when in frictionless contact against a rigid and rectilinear constraint, ending with a rounded or sharp corner, in a…
Symplectic integrators are widely used for long-term integration of conservative astrophysical problems due to their ability to preserve the constants of motion; however, they cannot in general be applied in the presence of nonconservative…
A new approach is developed to integrate numerically the equations of motion for systems of interacting rigid polyatomic molecules. With the aid of a leapfrog framework, we directly involve principal angular velocities into the integration,…
We investigate the superintegrability of rigid body rotors coupled to planar systems. In particular, we study the isotropic harmonic oscillator in two dimensions, with its (central) force acting on the rotor's center of mass constrained to…
Variational integrators are well-suited for simulation of mechanical systems because they preserve mechanical quantities about a system such as momentum, or its change if external forcing is involved, and holonomic constraints. While they…
A geometric form of Euler-Lagrange equations is developed for a chain pendulum, a serial connection of $n$ rigid links connected by spherical joints, that is attached to a rigid cart. The cart can translate in a horizontal plane acted on by…
In this note we describe how some objects from generalized geometry appear in the qualitative analysis and numerical simulation of mechanical systems. In particular we discuss double vector bundles and Dirac structures. It turns out that…
Numerical methods that preserves geometric invariants of the system such as energy, momentum and symplectic form, are called geometric integrators. These include variational integrators as an important subclass of geometric integrators. The…
We introduce a symplectic dual quaternion variational integrator(DQVI) for simulating single rigid body motion in all six degrees of freedom. Dual quaternion is used to represent rigid body kinematics and one-step Lie group variational…
A new method is proposed to numerically integrate a dynamical system on a manifold such that the trajectory stably remains on the manifold and preserves first integrals of the system. The idea is that given an initial point in the manifold…
Physics-based animation of soft or rigid bodies for real-time applications often suffers from numerical instabilities. We analyse one of the most common sources of unwanted behaviour: the numerical integration strategy. To assess the impact…
Simulation of contact and friction dynamics is an important basis for control- and learning-based algorithms. However, the numerical difficulties of contact interactions pose a challenge for robust and efficient simulators. A…
In this paper we develop, study, and test a Lie group multisymplectic integra- tor for geometrically exact beams based on the covariant Lagrangian formulation. We exploit the multisymplectic character of the integrator to analyze the energy…
We report the counter-intuitive instability of charged elastic rings, and the persistence of sinusoidal deformations in the lowest-energy configurations by the combination of high-precision numerical simulations and analytical perturbation…
We show that the (torsional) nonrelativistic string sigma models on $ R\times S^2 $ can be mapped into \emph{deformed} Rosochatius like integrable models in one dimension. We also explore the associated Hamiltonian constrained structure by…
This paper describes a 2D and 3D simulation engine that quantitatively models the statics, dynamics, and non-linear deformation of heterogeneous soft bodies in a computationally efficient manner. There is a large body of work simulating…
An elastic rod, straight in its undeformed state, has a mass attached at one end and a variable length, due to a constraint at the other end by a frictionless sliding sleeve. The constraint is arranged with the sliding direction parallel to…
Metriplectic dynamics couple a Poisson bracket of the Hamiltonian description with a kind of metric bracket, for describing systems with both Hamiltonian and dissipative components. The construction builds in asymptotic convergence to a…