Related papers: Cutting soft materials: how material differences s…
Granular materials are ubiquitous in nature and industry; their mechanical behavior has been of academic and engineering interest for centuries. One of the reasons for their rather complex mechanical behavior is that stresses exerted on a…
In contrast with the diversity of materials found in nature, most robots are designed with some combination of aluminum, stainless steel, and 3D-printed filament. Additionally, robotic systems are typically assumed to follow basic…
In the sliding contact of elastomer on a rigid substrate, the coefficient of friction may depend on a large number of system and loading parameters, including normal force, sliding velocity, shape of contacting bodies, surface roughness and…
Precision cutting of soft-tissue remains a challenging problem in robotics, due to the complex and unpredictable mechanical behaviour of tissue under manipulation. Here, we consider the challenge of cutting along the boundary between two…
We present an algorithm that allows a user within a virtual environment to perform real-time unconstrained cuts or consecutive tears, i.e., progressive, continuous fractures on a deformable rigged and soft-body mesh model in…
Experimentally measuring the elastic properties of thin biological surfaces is non-trivial, particularly when they are curved. One technique that may be used is the indentation of a thin sheet of material by a rigid indenter, whilst…
The macroscopic behaviors of materials are determined by interactions that occur at multiple lengths and time scales. Depending on the application, describing, predicting, and understanding these behaviors require models that rely on…
The quasistatic behavior of a simple 2D model of a cohesive powder under isotropic loads is investigated by Discrete Element simulations. The loose packing states, as studied in a previous paper, undergo important structural changes under…
Robotic fabric manipulation is challenging due to the infinite dimensional configuration space, self-occlusion, and complex dynamics of fabrics. There has been significant prior work on learning policies for specific deformable manipulation…
Elastomeric materials display a complicated set of stretchability and fracture properties that strongly depend on the flaw size, which has long been of interest to engineers and materials scientists. Here, we combine experiments and…
Soft, amorphous solids such as tissues, foams, and emulsions are composed of deformable particles. However, the effect of single-particle deformability on the collective behavior of soft solids is still poorly understood. We perform…
Using finite element software developed for metal cutting by Third Wave Systems we investigate the forces involved in chatter, a self-sustained oscillation of the cutting tool. The phenomena is decomposed into a vibrating tool cutting a…
Soft materials often exhibit a distinctive power-law viscoelastic response arising from broad distribution of time-scales present in their complex internal structure. A promising tool to accurately describe the rheological behaviour of soft…
A novel data-driven constitutive modeling approach is proposed, which combines the physics-informed nature of modeling based on continuum thermodynamics with the benefits of machine learning. This approach is demonstrated on…
The determination of a dynamic law of cut is complex and often very difficult to develop. Several formulations were developed, in very complex ways being given that 3 AD crosses from there, the number of variables is much higher than out of…
A macroscopically nominal flat surface is rough at the nanoscale level and consists of nanoasperities. Therefore, the frictional properties of the macroscale-level rough surface are determined by the mechanical behaviors of nanoasperity…
The precise mechanisms underlying the failure of multi-phase materials may be strongly dependent on the material's microstructural morphology. Micromechanical modeling has provided much insight into this dependence, but uncertainties remain…
We numerically investigate the athermal creep deformation of amorphous materials having a wide range of stability. The imposed shear stress serves as the control parameter, allowing us to examine the time-dependent transient response…
Grasping, in both biological and engineered mechanisms, can be highly sensitive to the gripper and object morphology, as well as perception, and motion planning. Here we circumvent the need for feedback or precise planning by using an array…
Construction throughout history typically assumes that its blueprints and building blocks are pre-determined. However, recent work suggests that alternative approaches can enable new paradigms for structure formation. Aleatory…