Implicit Contact Model for Discrete Elastic Rods in Knot Tying

2021 ◽  
Vol 88 (5) ◽  
Author(s):  
Andrew Choi ◽  
Dezhong Tong ◽  
Mohammad K. Jawed ◽  
Jungseock Joo
Keyword(s):  
Contact Force ◽  
Equations Of Motion ◽  
Contact Model ◽  
Elastic Rod ◽  
Knot Tying ◽  
Nonpenetration Condition ◽  
Time Step ◽  
Contact Potential ◽  
Fully Implicit ◽  
The Right

Abstract Rod–rod contact is critical in simulating knots and tangles. To simulate contact, typically a contact force is applied to enforce nonpenetration condition. This force is often applied explicitly (Euler forward). At every time-step in a dynamic simulation, the equations of motions are solved over and over again until the right amount of contact force successfully imposes the nonpenetration condition. There are two drawbacks: (1) Explicit implementation brings numerical convergence issues. (2) Solving equations of motion iteratively to find this right contact force slows down the simulation. In this article, we propose a simple, efficient, and fully implicit contact model with high convergence properties. This model is shown to be capable of taking large time-steps without forfeiting accuracy during knot tying simulations when compared to previous methods. We introduce a new contact potential, based on a smoothed segment–segment distance function, that is an analytic function of the four endpoints of the two contacting edges. Since this contact potential is differentiable, we can incorporate its force (negative gradient of the energy) and Jacobian (negative Hessian of the energy) into the elastic rod simulation.

Dynamic characteristics of planar linear array deployable structure based on scissor-like element with joint clearance using a new mixed contact force model

2016 ◽  
Vol 230 (18) ◽  
pp. 3161-3174 ◽  
Author(s):  
Bo Li ◽  
San-Min Wang ◽  
Ru Yuan ◽  
Xiang-Zhen Xue ◽  
Chang-Jian Zhi
Keyword(s):  
Contact Force ◽  
Dynamic Characteristics ◽  
Dynamic Performance ◽  
Equations Of Motion ◽  
Contact Model ◽  
Joint Clearance ◽  
Force Model ◽  
Continuous Contact ◽  
Deployable Structure ◽  
Contact Force Model

This paper aims at investigating precisely the dynamic performance of deployable structure constituted by scissor unit mechanisms with clearance joint. Based on the motion law in real joints, the contact model is established using an improved Gonthier nonlinear continuous contact force model, and the friction effect is considered using LuGre model. Moreover, the resulting contact force is suitable to be included into the generalized force of the equations of motion of a multibody system and contributes to replace motion constraints. In the sequel of this process, the effect of joint clearance is successfully introduced into the dynamical model of scissor deployable structure and the dynamic characteristics of deployable structure with joint clearance are obtained using a direct default correction method, which can directly modify the coordinates and speed of the system to avoid the numerical results divergence. Also, the new hybrid contact force model of revolute joint clearance is verified through comparing with the original model. The numerical simulation results show that the improved contact model proposed here has the great merit that predicts the dynamic behavior of scissor deployable structure with joint clearance.

Rotordynamic Analysis of Rotor–Stator Rub Using Rough Surface Contact

2016 ◽  
Vol 138 (2) ◽  
Author(s):  
Philip Varney ◽  
Itzhak Green
Keyword(s):  
Rough Surface ◽  
Contact Force ◽  
Bulk Material ◽  
Contact Stiffness ◽  
Contact Model ◽  
Real Surface ◽  
Time Step ◽  
Surface Contact ◽  
Orbit Analysis ◽  
Rough Surface Contact

Undesirable rotor–stator rub is frequently observed in rotordynamic systems, and has been the subject of many investigations. Most of these studies employ a simple piecewise-smooth linear-elastic contact model (LECM), where the rotor switches between noncontacting and contacting operation once the clearance is exceeded (various complications have been incorporated, though the essential model premises endure). Though useful as a first step, the LECM relies on an arcane contact stiffness estimate, and therefore does not emulate the actual contacting surfaces. Consequentially, the LECM fails to elucidate how real surface parameters influence contact severity and surface durability. This work develops a novel model for rotor–stator rub which is commensurate with reality by treating the surfaces as a collection of stochastically distributed asperities. Specifically, the elastoplastic Jackson–Green (JG) rough surface contact model is used to calculate the quasistatic contact force as a function of rotor displacement, where bulk material deformation and surface cumulative damage are ignored. A simple exponential fit of the contact force is proposed to reduce computational burden associated with evaluating the JG rough surface contact model at each simulation time step. The rotor's response using the LECM and JG rough surface contact model is compared via shaft speed bifurcations and orbit analysis. Significant differences are observed between the models, though some similarities exist for responses with few contacts per rotor revolution.

scholarly journals A Fully Implicit Finite Volume Scheme for a Seawater Intrusion Problem in Coastal Aquifers

Water ◽  
2020 ◽  
Vol 12 (6) ◽  
pp. 1639
Author(s):  
Abdelkrim Aharmouch ◽  
Brahim Amaziane ◽  
Mustapha El Ossmani ◽  
Khadija Talali
Keyword(s):  
Finite Volume ◽  
Coastal Aquifers ◽  
Nonlinear Partial Differential Equations ◽  
Time Integration ◽  
Mass Conservation ◽  
Coupled System ◽  
Finite Volume Scheme ◽  
Time Step ◽  
Volume Scheme ◽  
Fully Implicit

We present a numerical framework for efficiently simulating seawater flow in coastal aquifers using a finite volume method. The mathematical model consists of coupled and nonlinear partial differential equations. Difficulties arise from the nonlinear structure of the system and the complexity of natural fields, which results in complex aquifer geometries and heterogeneity in the hydraulic parameters. When numerically solving such a model, due to the mentioned feature, attempts to explicitly perform the time integration result in an excessively restricted stability condition on time step. An implicit method, which calculates the flow dynamics at each time step, is needed to overcome the stability problem of the time integration and mass conservation. A fully implicit finite volume scheme is developed to discretize the coupled system that allows the use of much longer time steps than explicit schemes. We have developed and implemented this scheme in a new module in the context of the open source platform DuMu X . The accuracy and effectiveness of this new module are demonstrated through numerical investigation for simulating the displacement of the sharp interface between saltwater and freshwater in groundwater flow. Lastly, numerical results of a realistic test case are presented to prove the efficiency and the performance of the method.

Vibration analysis of multiple degrees of freedom mechanical system with dry friction

2012 ◽  
Vol 227 (7) ◽  
pp. 1505-1514 ◽  
Author(s):  
SD Yu ◽  
BC Wen
Keyword(s):  
Mechanical System ◽  
Dry Friction ◽  
Degrees Of Freedom ◽  
Simple Procedure ◽  
Mathematical Problem ◽  
Equations Of Motion ◽  
Inequality Constraints ◽  
Integration Scheme ◽  
Time Step ◽  
Multiple Degrees Of Freedom

This article presents a simple procedure for predicting time-domain vibrational behaviors of a multiple degrees of freedom mechanical system with dry friction. The system equations of motion are discretized by means of the implicit Bozzak–Newmark integration scheme. At each time step, the discontinuous frictional force problem involving both the equality and inequality constraints is successfully reduced to a quadratic mathematical problem or the linear complementary problem with the introduction of non-negative and complementary variable pairs (supremum velocities and slack forces). The so-obtained complementary equations in the complementary pairs can be solved efficiently using the Lemke algorithm. Results for several single degree of freedom and multiple degrees of freedom problems with one-dimensional frictional constraints and the classical Coulomb frictional model are obtained using the proposed procedure and compared with those obtained using other approaches. The proposed procedure is found to be accurate, efficient, and robust in solving non-smooth vibration problems of multiple degrees of freedom systems with dry friction. The proposed procedure can also be applied to systems with two-dimensional frictional constraints and more sophisticated frictional models.

UNCONSTRAINED HIGHER SPINS IN FOUR DIMENSIONS

2011 ◽  
Vol 08 (03) ◽  
pp. 511-556 ◽  
Author(s):  
GIUSEPPE BANDELLONI
Keyword(s):  
Equations Of Motion ◽  
Symmetric Tensor ◽  
Tensor Fields ◽  
Geometrical Meaning ◽  
Four Dimensions ◽  
Spin Field ◽  
Angular Momenta ◽  
Higher Spin ◽  
Spin Fields ◽  
The Right

The relativistic symmetric tensor fields are, in four dimensions, the right candidates to describe Higher Spin Fields. Their highest spin content is isolated with the aid of covariant conditions, discussed within a group theory framework, in which auxiliary fields remove the lower intrinsic angular momenta sectors. These conditions are embedded within a Lagrangian Quantum Field theory which describes an Higher Spin Field interacting with a Classical background. The model is invariant under a (B.R.S.) symmetric unconstrained tensor extension of the reparametrization symmetry, which include the Fang–Fronsdal algebra in a well defined limit. However, the symmetry setting reveals that the compensator field, which restore the Fang–Fronsdal symmetry of the free equations of motion, is in the existing in the framework and has a relevant geometrical meaning. The Ward identities coming from this symmetry are discussed. Our constraints give the result that the space of the invariant observables is restricted to the ones constructed with the Highest Spin Field content. The quantum extension of the symmetry reveals that no new anomaly is present. The role of the compensator field in this result is fundamental.

A Strategy to Accelerate the Numerical Integration in the Dynamic Simulation of Multibody Systems

1997 ◽  
Author(s):  
Jesús Cardenal ◽  
Javier Cuadrado ◽  
Eduardo Bayo
Keyword(s):  
Multibody Systems ◽  
Equations Of Motion ◽  
Stiff Systems ◽  
Step Size ◽  
Step Method ◽  
Integral Of Motion ◽  
Time Step ◽  
Time Step Size ◽  
Variable Time ◽  
Numerical Integrator

Abstract This paper presents a multi-index variable time step method for the integration of the equations of motion of constrained multibody systems in descriptor form. The basis of the method is the augmented Lagrangian formulation with projections in index-3 and index-1. The method takes advantage of the better performance of the index-3 formulation for large time steps and of the stability of the index-1 for low time steps, and automatically switches from one method to the other depending on the required accuracy and values of the time step. The variable time stepping is accomplished through the use of an integral of motion, which in the case of conservative systems becomes the total energy. The error introduced by the numerical integrator in the integral of motion during consecutive time steps provides a good measure of the local integration error, and permits a simple and reliable strategy for varying the time step. Overall, the method is efficient and powerful; it is suitable for stiff and non-stiff systems, robust for all time step sizes, and it works for singular configurations, redundant constraints and topology changes. Also, the constraints in positions, velocities and accelerations are satisfied during the simulation process. The method is robust in the sense that becomes more accurate as the time step size decreases.

Hertz Contact Force Model With Permanent Indentation in Impact Analysis of Solids

1992 ◽  
Author(s):  
Hamid M. Lankarani ◽  
Parviz E. Nikravesh
Keyword(s):  
Contact Force ◽  
Impact Analysis ◽  
Equations Of Motion ◽  
Solid Particles ◽  
Hertzian Contact ◽  
Contact Period ◽  
Force Model ◽  
Unknown Parameters ◽  
Contact Force Model ◽  
Energy And Momentum

Abstract A continuous analysis method for the direct-central impact of two solid particles is presented. Based on the assumption that local plasticity effects are the sole factor accounting for the dissipation of energy in impact, a Hertzian contact force model with permanent indentation is constructed. Utilizing energy and momentum considerations, the unknown parameters in the model are analytically evaluated in terms of a given coefficient of restitution and velocities before impact. The equations of motion of the two solids may then be integrated forward in time knowing the variation of the contact force during the contact period. For Illustration, an impact of two soft metallic particles is studied.

Experimental Validation of a Volumetric Planetary Rover Wheel/Soil Interaction Model

2013 ◽  
Author(s):  
Willem Petersen ◽  
John McPhee
Keyword(s):  
Contact Force ◽  
Interaction Model ◽  
Contact Model ◽  
Soil Parameters ◽  
Model Parameters ◽  
Force Model ◽  
Normal Contact ◽  
Planetary Rover ◽  
Normal Contact Force ◽  
Contact Force Model

For the multibody simulation of planetary rover operations, a wheel-soil contact model is necessary to represent the forces and moments between the tire and the soft soil. A novel nonlinear contact modelling approach based on the properties of the hypervolume of interpenetration is validated in this paper. This normal contact force model is based on the Winkler foundation model with nonlinear spring properties. To fully define the proposed normal contact force model for this application, seven parameters are required. Besides the geometry parameters that can be easily measured, three soil parameters representing the hyperelastic and plastic properties of the soil have to be identified. Since it is very difficult to directly measure the latter set of soil parameters, they are identified by comparing computer simulations with experimental results of drawbar pull tests performed under different slip conditions on the Juno rover of the Canadian Space Agency (CSA). A multibody dynamics model of the Juno rover including the new wheel/soil interaction model was developed and simulated in MapleSim. To identify the wheel/soil contact model parameters, the cost function of the model residuals of the kinematic data is minimized. The volumetric contact model is then tested by using the identified contact model parameters in a forward dynamics simulation of the rover on an irregular 3-dimensional terrain and compared against experiments.

Analytical Study of the Oblique Impact of a Rod with a Flat Using an Elasto-Plastic Contact Model

2015 ◽  
Vol 801 ◽  
pp. 25-32
Author(s):  
Ozdes Cermik ◽  
Hamid Ghaednia ◽  
Dan B. Marghitu
Keyword(s):  
Impact Velocity ◽  
Contact Force ◽  
Analytical Study ◽  
Initial Conditions ◽  
Permanent Deformation ◽  
Oblique Impact ◽  
Coefficient Of Restitution ◽  
Contact Model ◽  
Impact Angles ◽  
The Impact

In the current study a flattening contact model, combined with a permanent deformation expression, has been analyzed for the oblique impact case. The model has been simulated for different initial conditions using MATLAB. The initial impact velocity used for the simulations ranges from 0.5 to 3 m/s. The results are compared theoretically for four different impact angles including 20, 45, 70, and 90 degrees. The contact force, the linear and the angular motion, the permanent deformation, and the coefficient of restitution have been analyzed. It is assumed that sliding occurs throughout the impact.

Simplified Procedure to Estimate the Wind Turbine Blade Aerodynamic Loadings Without Using CFD

2013 ◽  
Author(s):  
Fouad Mohammad ◽  
Emmanuel Ayorinde
Keyword(s):  
Wind Turbine ◽  
Turbine Blade ◽  
Equations Of Motion ◽  
Wind Turbine Blade ◽  
Aerodynamic Load ◽  
Horizontal Axis Wind Turbine ◽  
Cross Sectional ◽  
Flow Angle ◽  
Blade Length ◽  
The Right

The aerodynamic loadings that act on the blade of a horizontal axis wind turbine change as a function of time due to the instantaneous change of the wind speed, the wind direction and the blade position. The new contribution in this study is the introduction of a simplified non CFD based procedure for the calculation of all the aerodynamic loadings acting on a wind turbine blade. The premise of the current simplified model is that (a) the forces can be modeled by a set of point loads rather than distributed pressures, and (b) the magnitudes of these point loads can be estimated using the below load formulas, (c) an interpolation scheme needed to have all computed forces and moments as a function of the blade lengthwise x. Considering a 14m blade length and utilizing a time dependent set of parameters such as angle of attack, material and air density, wind and blade speed, flow angle, yaw, pitch angles, the centrifugal forces (along x-direction of the blade length), the cross-sectional forces (Fy and Fz) and the twisting moment of the blade (about the x-direction) were calculated for each of all the given time steps. After that the authors explain how to interpolate the calculated loadings (forces and twisting moment) and the right formulas to compute the aerodynamic load vector (the right side of the dynamic equations of motion).

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