Based on the numerical governing formulation and non-linear complementary conditions of contact and impact problems, a reduced projection augmented Lagrange bi- conjugate gradient method is proposed for contact and im...Based on the numerical governing formulation and non-linear complementary conditions of contact and impact problems, a reduced projection augmented Lagrange bi- conjugate gradient method is proposed for contact and impact problems by translating non-linear complementary conditions into equivalent formulation of non-linear program- ming. For contact-impact problems, a larger time-step can be adopted arriving at numer- ical convergence compared with penalty method. By establishment of the impact-contact formulations which are equivalent with original non-linear complementary conditions, a reduced projection augmented Lagrange bi-conjugate gradient method is deduced to im- prove precision and efficiency of numerical solutions. A numerical example shows that the algorithm we suggested is valid and exact.展开更多
Soft machine refers to a kind of mechanical system made of soft materials to complete sophisticated missions, such as handling a fragile object and crawling along a narrow tunnel corner, under low cost control and act...Soft machine refers to a kind of mechanical system made of soft materials to complete sophisticated missions, such as handling a fragile object and crawling along a narrow tunnel corner, under low cost control and actuation. Hence, soft machines have raised great challenges to computational dynamics. In this review article, recent studies of the authors on the dynamic modeling, numerical simulation, and experimental validation of soft machines are summarized in the framework of multibody system dynamics. The dynamic modeling approaches are presented first for the geometric nonlinearities of coupled overall motions and large deformations of a soft component, the physical nonlinearities of a soft component made of hyperelastic or elastoplastic materials, and the frictional contacts/impacts of soft components, respectively. Then the computation approach is outlined for the dynamic simulation of soft machines governed by a set of differential-algebraic equations of very high dimensions, with an emphasis on the efficient computations of the nonlinear elastic force vector of finite elements. The validations of the proposed approaches are given via three case studies, including the locomotion of a soft quadrupedal robot, the spinning deployment of a solar sail of a spacecraft, and the deployment of a mesh reflector of a satellite antenna, as well as the corresponding experimental studies. Finally, some remarks are made for future studies.展开更多
文摘Based on the numerical governing formulation and non-linear complementary conditions of contact and impact problems, a reduced projection augmented Lagrange bi- conjugate gradient method is proposed for contact and impact problems by translating non-linear complementary conditions into equivalent formulation of non-linear program- ming. For contact-impact problems, a larger time-step can be adopted arriving at numer- ical convergence compared with penalty method. By establishment of the impact-contact formulations which are equivalent with original non-linear complementary conditions, a reduced projection augmented Lagrange bi-conjugate gradient method is deduced to im- prove precision and efficiency of numerical solutions. A numerical example shows that the algorithm we suggested is valid and exact.
基金supported in part by the National Natural Science Foundation of China (Grants 11290150 and 11290151)
文摘Soft machine refers to a kind of mechanical system made of soft materials to complete sophisticated missions, such as handling a fragile object and crawling along a narrow tunnel corner, under low cost control and actuation. Hence, soft machines have raised great challenges to computational dynamics. In this review article, recent studies of the authors on the dynamic modeling, numerical simulation, and experimental validation of soft machines are summarized in the framework of multibody system dynamics. The dynamic modeling approaches are presented first for the geometric nonlinearities of coupled overall motions and large deformations of a soft component, the physical nonlinearities of a soft component made of hyperelastic or elastoplastic materials, and the frictional contacts/impacts of soft components, respectively. Then the computation approach is outlined for the dynamic simulation of soft machines governed by a set of differential-algebraic equations of very high dimensions, with an emphasis on the efficient computations of the nonlinear elastic force vector of finite elements. The validations of the proposed approaches are given via three case studies, including the locomotion of a soft quadrupedal robot, the spinning deployment of a solar sail of a spacecraft, and the deployment of a mesh reflector of a satellite antenna, as well as the corresponding experimental studies. Finally, some remarks are made for future studies.
