On the continuous contact force models for soft materials in multibody dynamics

Flores, Paulo; Machado, Margarida; Silva, Miguel T.; Martins, Jorge

doi:10.1007/s11044-010-9237-4

Cited by 326 publications

(237 citation statements)

References 47 publications

(77 reference statements)

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“…As the collision time microscale is irrelevant, we have normalized the impact interval duration to that of the most dissipative case   e 0.2  . There is a good qualitative coincidence with the corresponding curves in [20], and the quantitative discrepancies are below 11%. Figure 6(c) shows sharps corners associated to the force discontinuity when shifting from compression to expansion.…”

Section: The Elastoplastic Modelsupporting

confidence: 71%

“…Figure 6(c) shows sharps corners associated to the force discontinuity when shifting from compression to expansion. The corresponding curves in [20] do not show that discontinuity, but rounded corners. Nevertheless, the area inside those curves, which represents the dissipated energy, are really close in value.…”

Section: The Elastoplastic Modelmentioning

confidence: 90%

“…Variations of Kelvin-Voigt's model consist on replacing the linear spring and damper by nonlinear ones (for instance, a Hertz's compliant formulation for the spring [17], or an indentation-dependent viscous damper [18,19,20]), but this does not allow the simulation of permanent indentation.…”

Section: Multiple-point Impact With Redundancymentioning

confidence: 99%

“…During this phase, the effective stiffness is only related to the inelastic system: We have applied our model to the same problem. The colliding ball has the same initial velocity (4 m/s) and the same geometric and inertia parameters than that in [20]: radius 0.1 m, Figures 6(a) and 6(b) show the evolution along the impact interval of the indentation and the approaching velocity respectively. As the collision time microscale is irrelevant, we have normalized the impact interval duration to that of the most dissipative case   e 0.2  .…”

Section: The Elastoplastic Modelmentioning

confidence: 99%

See 3 more Smart Citations

Combining vibrational linear-by-part dynamics and kinetic-based decoupling of the dynamics for multiple elastoplastic smooth impacts

2015

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Abstract. This article proposes a linear-by-part approach for elastoplastic 3D multiple-point smooth impacts in multibody systems energy dissipation due to material deformation is introduced through a linear-by-part elastoplastic model consisting on two elementary sets of springs and dry-friction dampers. The first set accounts for inelastic behavior (energy loss without permanent indentation), while the second one introduces plasticity (that is, permanent indentation). In inelastic and plastic collisions, instantaneous unilateral constraints may appear, thus reducing the number of degrees of freedom (DOF)

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Section: The Elastoplastic Modelsupporting

confidence: 71%

Section: The Elastoplastic Modelmentioning

confidence: 90%

Section: Multiple-point Impact With Redundancymentioning

confidence: 99%

Section: The Elastoplastic Modelmentioning

confidence: 99%

See 2 more Smart Citations

Combining vibrational linear-by-part dynamics and kinetic-based decoupling of the dynamics for multiple elastoplastic smooth impacts

2015

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“…Over the last years a good number of works [20][21][22][23] have performed studies to modify the hysteresis damping for both large and small coefficients of restitution. Modeling a contact force is still the most important work for this approach.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Dynamics Response of a Planar Mechanism with Two Driving Links and Prismatic Pair Clearance

Marghitu

Zhao

2017

Mathematical Problems in Engineering

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The influence of the joint clearance on the dynamic response of a planar mechanism with two driving links and prismatic pair clearance is investigated under variable input speeds of the system. The simulation model was built with a nonlinear impact model. The normal contact force is characterized by Hertz contact theory and an energy dissipation term. A tangential friction force is involved in the simulation model based on Coulomb's friction law. The simulation results indicate that the largest Lyapunov exponents are dependent on the clearance size and the input speed.

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Progress, Challenges, and Prospects of Soft Robotics for Space Applications

Zhang

Quan

et al. 2022

Advanced Intelligent Systems

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The development of space robots is vital to broadening human cognitive boundaries. Space robots have been deployed in space science experiments, extravehicular operations, and deep space exploration. The application of space robots undoubtedly reduces the risk and cost of space activities. Traditional space robots primarily utilize rigid structures, resulting in limited degrees of freedom, which restricts their operational capabilities. In contrast, soft robots with greater flexibility and robustness may be used for future space exploration. Soft robots applied in space environments must overcome significant challenges associated with ultrahigh vacuum, microgravity, extreme temperatures, and high‐energy radiation. Herein, a comprehensive analysis of the key advantages of soft robots is presented based on the special requirements of the space environments for soft robots. Furthermore, brief insights into how soft robots must be changed in terms of their design, modeling, fabrication, sensing, and control to adapt to space environments are discussed. Specifically, soft robot scenarios with potential space application value are introduced. Finally, opinions regarding the potential directions of soft space robots are provided.

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On the continuous contact force models for soft materials in multibody dynamics

Cited by 326 publications

References 47 publications

Combining vibrational linear-by-part dynamics and kinetic-based decoupling of the dynamics for multiple elastoplastic smooth impacts

Combining vibrational linear-by-part dynamics and kinetic-based decoupling of the dynamics for multiple elastoplastic smooth impacts

Nonlinear Dynamics Response of a Planar Mechanism with Two Driving Links and Prismatic Pair Clearance

Progress, Challenges, and Prospects of Soft Robotics for Space Applications

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