相关论文: Three Dimensional Nonlinear Dynamics of Slender St…
We present a hybrid Eulerian-Lagrangian method for the direct simulation of three-dimensional, heterogeneous structures made of soft fibers and immersed in incompressible viscous fluids. Fiber-based organization of matter is pervasive in…
Inverse design of slender elastic structures underlies a wide range of applications in computer graphics, flexible electronics, biomedical devices, and soft robotics. Traditional optimization-based approaches, however, are often orders of…
This paper is concerned with the problem of estimating (interpolating and smoothing) the shape (pose and the six modes of deformation) of a slender flexible body from multiple camera measurements. This problem is important in both biology,…
Parallel Continuum Robots (PCR) are closed-loop mechanisms but use elastic kinematic links connected in parallel between the end-effector (EE) and the base platform. PCRs are actuated primarily through large deflections of the…
Configurational, or Eshelby-like, forces are shown to strongly influence the nonlinear dynamics of an elastic rod constrained with a frictionless sliding sleeve at one end and with an attached mass at the other end. The configurational…
The Cosserat equations for equilibrium are derived by starting from the action of the group of smooth functions with values in the Lie group of rigid spatial motions on rigid frames in Euclidian space. The method of virtual work is…
We present a new geometrically nonlinear Cosserat shell model incorporating effects up to order $O(h^5)$ in the shell thickness $h$. The method that we follow is an educated 8-parameter ansatz for the three-dimensional elastic shell…
We propose a general method for deriving one-dimensional models for nonlinear structures. It captures the contribution to the strain energy arising not only from the macroscopic elastic strain as in classical structural models, but also…
Soft robots have many advantages over rigid robots thanks to their compliant and passive nature. However, it is generally challenging to model the dynamics of soft robots due to their high spatial dimensionality, making it difficult to use…
The direct computation of the third-order normal form for a geometrically nonlinear structure discretised with the finite element (FE) method, is detailed. The procedure allows to define a nonlinear mapping in order to derive accurate…
Skeletal muscles are living tissues that can undergo large deformations in short periods of time and that can be activated to produce force. In this paper we use the principles of continuum mechanics to propose a dynamic, fully non-linear,…
The spinning of slender viscous jets can be described asymptotically by one-dimensional models that consist of systems of partial and ordinary differential equations. Whereas the well-established string models possess only solutions for…
This paper aims to study the convergence of solutions in three-dimensional nonlinear elastodynamics for a thin rod as its cross section shrinks to zero for displacements that are comparable to the small radius of the rod. Assuming the…
We investigate the stability and geometrically non-linear dynamics of slender rods made of a linear isotropic poroelastic material. Dimensional reduction leads to the evolution equation for the shape of the poroelastica where, in addition…
This paper proposes a low order geometrically exact flexible beam formulation based on the utilisation of generic beam shape functions to approximate distributed kinematic properties of the deformed structure. The proposed nonlinear beam…
We rigorously derive an effective bending model for elastoplastic rods starting from three-dimensional finite plasticity. For the derivation we lean on a framework of evolutionary $\Gamma$-convergence for rate-independent systems. The main…
Modelling two-dimensional chiral materials is a challenging problem in continuum mechanics because three-dimensional theories reduced to isotropic two-dimensional problems become non-chiral. Various approaches have been suggested to…
We present a geometric formulation of classical Cosserat elasticity in which the coframe and rotational connection are treated as independent variational fields. In contrast to conventional metric-based approaches, this formulation makes…
In any geometrically nonlinear, isotropic and quadratic Cosserat micropolar extended continuum model formulated in the deformation gradient field $F = \nabla\varphi : \Omega \to GL^+(n)$ and the microrotation field $R: \Omega \to SO(n)$,…
We present a novel technique to significantly reduce the offline cost associated to non-intrusive nonlinear tensors identification in reduced order models (ROMs) of geometrically nonlinear, finite elements (FE)-discretized structural…