Related papers: Tensegrity system dynamics based on finite element…
This paper proposes a unified approach for dynamic modeling and simulations of general tensegrity structures with rigid bars and rigid bodies of arbitrary shapes. The natural coordinates are adopted as a non-minimal description in terms of…
This paper presents the formulations of nonlinear and linearized statics, dynamics, and control for any clustered tensegrity system (CTS). Based on the Lagrangian method and FEM assumptions, the nonlinear clustered tensegrity dynamics with…
This paper presents a Lagrangian approach to simulating multibody dynamics in a tensegrity framework with an ability to tackle holonomic constraint violations in an energy-preserving scheme. Governing equations are described using…
This paper proposes a novel way to solve transient linear, and non-linear solid dynamics for compressible, nearly incompressible, and incompressible material in the updated Lagrangian framework for tetrahedral unstructured finite elements.…
Tensegrity structures have been extensively studied over the last years due to their potential applications in modern engineering like metamaterials, deployable structures, planetary lander modules, etc. Many of the form-finding methods…
A general framework for performing event-driven simulations of systems with semi-flexible or rigid bodies interacting under impulsive torques and forces is outlined. Two different approaches are presented. In the first, the dynamics and…
We present the numerical methods and GPU-accelerated implementation underlying a Total Lagrangian finite element framework for finite-deformation flexible multibody dynamics, introduced in the companion paper [1]. The framework supports…
A novel unified approach to jointly optimize structural design parameters, actuator and sensor precision and controller parameters is presented in this paper. The joint optimization problem is posed as a covariance control problem, where…
We present a numerical framework for modeling extended hyperelastic bodies based on a Lagrangian formulation of general relativistic elasticity theory. We use finite element methods to discretize the body, then use the semi--discrete action…
The cytoskeleton (CSK) plays an important role in many cell functions. Given the similarities between the mechanical behavior of tensegrity structures and the CSK, many studies have proposed different tensegrity-based models for simulating…
We present a Total Lagrangian finite element framework for finite-deformation multibody dynamics. The framework combines a compact kinematic representation, a deformation-gradient-based formulation, an element-agnostic constitutive…
In this article a multi-segmented planar tensegrity mechanism was presented. This mechanism has a three-segment structure with each segment residing on top of another. The size of the segments may decrease proportionally from base to top,…
The present paper is concerned with the formulation of new assembly methods of bi-material tensegrity prisms, and the experimental characterization of the compressive response of such structures. The presented assembly techniques are easy…
During the last decade, tensegrity systems have been the focus of numerous investigations exploring the possibility of adopting them for planetary landing and exploration applications. Early approaches mainly focused on locomotion aspects…
In this paper, we develop a new multiphysics finite element method for a nonlinear poroelastic model with Hencky-Mises stress tensor. By introducing some new notations, we reformulate the original model into a fluid-fluid coupling problem,…
Tensegrity robots, which are composed of compressive elements (rods) and flexible tensile elements (e.g., cables), have a variety of advantages, including flexibility, low weight, and resistance to mechanical impact. Nevertheless, the…
The immersed boundary method is an approach to fluid-structure interaction that uses a Lagrangian description of the structural deformations, stresses, and forces along with an Eulerian description of the momentum, viscosity, and…
The paper is concerned with the development of efficient and accurate solution procedures for the isogeometric boundary element method (BEM) when applied to problems that contain inclusions that have elastic properties different to the…
This study presents a fractional-order continuum mechanics approach that allows combining selected characteristics of nonlocal elasticity, typical of classical integral and gradient formulations, under a single frame-invariant framework.…
An important requirement in the standard finite element method (FEM) is that all elements in the underlying mesh must be tangle-free i.e., the Jacobian must be positive throughout each element. To relax this requirement, an isoparametric…