Multi-body dynamics simulation of geometrically exact Cosserat rods
نویسندگان
چکیده
منابع مشابه
Multibody dynamics simulation of geometrically exact Cosserat rods
In this paper, we present a viscoelastic rod model that is suitable for fast and accurate dynamic simulations. It is based on Cosserat’s geometrically exact theory of rods and is able to represent extension, shearing (‘stiff’ dof), bending and torsion (‘soft’ dof). For inner dissipation, a consistent damping potential proposed by Antman is chosen. We parametrise the rotational dof by unit quate...
متن کاملCoupling Geometrically Exact Cosserat Rods
Cosserat rods are models for long slender objects. Let SE(3) = R3 SO(3) be the 13 group of orientation-preserving rigid body motions of R3 (the special Euclidean 14 group). A configuration of a Cosserat rod is a map φ : [0,1] → SE(3). For each 15 s ∈ [0,1], the value φ(s) = (φr(s),φq(s)) is interpreted as the position φr(s)∈R and 16 orientation φq(s)∈ SO(3) of a rigid rod cross section. Strain ...
متن کاملLagrangian field theory in space and time for geometrically exact Cosserat rods
In this article, we derive the balance of linear and angular momentum equations for geometrically exact Cosserat rods from a two dimensional Lagrangian field approach in space and time. As we use a full quaternion description for the rotatory part of the balance equations, they constitute a system of nonlinear hyperbolic partial differential algebraic equations. We prove their equivalence to th...
متن کاملEfficient embedding of a geometrically exact Cosserat rod in multibody dynamics using kinematic coupling constraints
In vehicle design and production, one typically has to deal with flexible components. Simulation of these flexible components as part of a multibody system is especially challenging, if fast simulations up to realtime are demanded. This is the case, e.g., in interactive assembly simulations of cables and hoses. In our work, we use the discrete Cosserat rod model as presented in [1], which is ba...
متن کاملGeometrically Exact Simulation of Inextensible Ribbon
Narrow, inextensible, and naturally flat ribbons have some special and interesting phenomena under isometric deformations. Although a ribbon has a shape between rod and shell, directly applying the geometric representation designed for them imposes a challenge to faithfully reproduce interesting behaviors. We thus parameterize the ribbon surface as a developable ruled surface along its centerli...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Multibody System Dynamics
سال: 2010
ISSN: 1384-5640,1573-272X
DOI: 10.1007/s11044-010-9223-x