相关论文: An Elastica Arm Scale

When some granular material contained into a silo is pushed upwards with a piston, an irregular stick-slip motion of the system of grains is observed. We show how one can adapt the `Scalar Arching Model' -- proposed as a model for giant…

We study the deformations of elastic filaments confined within slowly-shrinking circular boundaries, under contact forces with friction. We perform computations with a spring-lattice model that deforms like a thin inextensible filament of…

What characterises a solid is its way to respond to external stresses. Ordered solids, such crystals, display an elastic regime followed by a plastic one, both well understood microscopically in terms of lattice distortion and dislocations.…

This paper presents a new method for modelling the dynamic behaviour of developable ribbons, two dimensional strips with much smaller width than length. Instead of approximating such surface with a general triangle mesh, we characterize it…

Crystal lattice deformations can be described microscopically by explicitly accounting for the position of atoms or macroscopically by continuum elasticity. In this work, we report on the description of continuous elastic fields derived…

We propose a one-dimensional, nonconvex elastic constitutive model with higher gradients that can predict spontaneous fracture at a critical load via a bifurcation analysis. It overcomes the problem of discontinuous deformations without…

Multisection continuum arms offer complementary characteristics to those of traditional rigid-bodied robots. Inspired by biological appendages, such as elephant trunks and octopus arms, these robots trade rigidity for compliance, accuracy…

Extra-large deformations in ultra-soft elastic materials are ubiquitous, yet systematic studies and methods to understand the mechanics of such huge strains are lacking. Here we investigate this complex problem systematically with a simple…

We report on the computer study of a lattice system that relaxes from a metastable state. Under appropriate nonequilibrium randomness, relaxation occurs by avalanches, i.e., the model evolution is discontinuous and displays many scales in a…

We investigate the finite bending and the associated bending instability of an incompressible dielectric slab subject to a combination of applied voltage and axial compression, using nonlinear electro-elasticity theory and its incremental…

The equilibrium state of a flexible fiber settling in a viscous fluid is examined using a combination of macroscopic experiments, numerical simulations and scaling arguments. We identify three regimes having different signatures on this…

Change in the interatomic spacing of a two-atom system under tension and compression has been modelled by the elastic deformation of atoms. The critical elastic strain of atoms before separation or cracking from tension was estimated by the…

Supernumerary robotic limbs (SLs) have the potential to transform a wide range of human activities, yet their usability remains limited by key technical challenges, particularly in ensuring safety and achieving versatile control. Here, we…

As we enter the age of designer matter - where objects can morph and change shape on command - what tools do we need to create shape-shifting structures? At the heart of an elastic deformation is the combination of dilation and distortion,…

Covering elastic substrates with stiff biomimetic scales significantly alters the bending behavior via scales engagement. This engagement is the dominant source of nonlinearity in small deflection regime. As deformation proceeds, an…

The Discrete elastic rod method (Bergou et al., 2008) is a numerical method for simulating slender elastic bodies. It works by representing the center-line as a polygonal chain, attaching two perpendicular directors to each segment, and…

This paper presents the design, control, and applications of a multi-segment soft robotic arm. In order to design a soft arm with large load capacity, several design principles are proposed by analyzing two kinds of buckling issues, under…

The modeling of the elastic properties of disordered or nanoscale solids requires the foundations of the theory of elasticity to be revisited, as one explores scales at which this theory may no longer hold. The only cases for which…

Large deformations of soft elastic beads spinning at high angular velocity in a denser background fluid are investigated theoretically, numerically, and experimentally using millimeter-size polyacrylamide hydrogel particles introduced in a…

This paper presents the design and development of a highly articulated, continuum, wearable, fabric-based Soft Poly-Limb (fSPL). This fabric soft arm acts as an additional limb that provides the wearer with mobile manipulation assistance…