Related papers: Three Dimensional Nonlinear Dynamics of Slender St…
Slender structures are ubiquitous in biological and physical systems, from bacterial flagella to soft robotic arms. The Cosserat rod provides a mathematical framework for slender bodies that can stretch, shear, twist and bend. In viscous…
We consider a subsystem of the Special Cosserat Theory of Rods and construct an explicit form of its solution that depends on three arbitrary functions in (s,t) and three arbitrary functions in t. Assuming analyticity of the arbitrary…
Soft slender robots have attracted more and more research attentions in these years due to their continuity and compliance natures. However, mechanics modeling for soft robots interacting with environment is still an academic challenge…
We propose a method for the description and simulation of the nonlinear dynamics of slender structures modeled as Cosserat rods. It is based on interpreting the strains and the generalized velocities of the cross sections as basic variables…
The Cosserat solid is a theoretical model of a continuum whose elementary constituents are notional rigid bodies. Here we present a formulation of the mechanics of a Cosserat solid in the language of modern differential geometry and…
We suggest an alternative mathematical model for the massless neutrino. Consider an elastic continuum in 3-dimensional Euclidean space and assume that points of this continuum can experience no displacements, only rotations. This framework…
We propose a method for deriving equivalent one-dimensional models for slender non-linear structures. The approach is designed to be broadly applicable, and can handle in principle finite strains, finite rotations, arbitrary cross-sections…
This paper presents a geometrically explicit formulation for Cosserat rods that unifies configuration-space and strain-based representations within a single modeling framework. The proposed method uses nodal configurations on the Lie group…
We consider an infinite 3-dimensional elastic continuum whose material points experience no displacements, only rotations. This framework is a special case of the Cosserat theory of elasticity. Rotations of material points are described…
This study presents the framework to perform a stability analysis of nonlocal solids whose response is formulated according to the fractional-order continuum theory. In this formulation, space fractional-order operators are used to capture…
We suggest an alternative mathematical model for the electron in dimension 1+2. We think of our (1+2)-dimensional spacetime as an elastic continuum whose material points can experience no displacements, only rotations. This framework is a…
Recently soft robotics has rapidly become a novel and promising area of research with many designs and applications due to their flexible and compliant structure. However, it is more difficult to derive the nonlinear dynamic model of such…
We present and analyse a numerical method for understanding the low-inertia dynamics of an open, inextensible viscoelastic rod - a long and thin three dimensional object - representing the body of a long, thin microswimmer. Our model allows…
Cosserat rod theory is the popular approach to modeling ferromagnetic soft robots as 1-Dimensional (1D) slender structures in most applications, such as biomedical. However, recent soft robots designed for locomotion and manipulation often…
We propose a first example of a simple classical field theory with nonholonomic constraints. Our model is a straightforward modification of a Cosserat rod. Based on a mechanical analogy, we argue that the constraint forces should be modeled…
Nonlinear bending phenomena of thin elastic structures arise in various modern and classical applications. Characterizing low energy states of elastic rods has been investigated by Bernoulli in 1738 and related models are used to determine…
Starting from a three-dimensional model based on the Ciarlet-Geymonat energy, we derive nonlinear shell models within the classical elasticity theory of compressible isotropic materials. The Neo-Hookean term involving the norm of the…
This paper deals with the relation of the dynamic elastic Cosserat rod model and the Kirchhoff beam equations. We show that the Kirchhoff beam without angular inertia is the asymptotic limit of the Cosserat rod, as the slenderness parameter…
With recent advances in variable-length structures for use in soft actuation, energy harvesting, energy dissipation and metamaterials, the mathematical modelling and numerical simulation of physical systems with time-varying domains is…
In spite of recent progress, soft robotics still suffers from a lack of unified modeling framework. Nowadays, the most adopted model for the design and control of soft robots is the piece-wise constant curvature model, with its consolidated…