The classical phase field model has wide applications for brittle materials,but nonlinearity and inelasticity are found in its stress-strain curve.The degradation function in the classical phase field model makes it a...The classical phase field model has wide applications for brittle materials,but nonlinearity and inelasticity are found in its stress-strain curve.The degradation function in the classical phase field model makes it a linear formulation of phase field and computationally attractive,but stiffness reduction happens even at low strain.In this paper,generalized polynomial degradation functions are investigated to solve this problem.The first derivative of degradation function at zero phase is added as an extra constraint,which renders higher-order polynomial degradation function and nonlinear formulation of phase field.Compared with other degradation functions(like algebraic fraction function,exponential function,and trigonometric function),this polynomial degradation function enables phase in[0,1](should still avoid the first derivative of degradation function at zero phase to be 0),so there is noconvergence problem.The good and meaningful finding is that,under the same fracture strength,the proposed phase field model has a larger length scale,which means larger element size and better computational efficiency.This proposed phase field model is implemented in LS-DYNA user-defined element and user-defined material and solved by the Newton-Raphson method.A tensile test shows that the first derivative of degradation function at zero phase does impact stress-strain curve.Mode I,mode II,and mixed-mode examples show the feasibility of the proposed phase field model in simulating brittle fracture.展开更多
The previous low-order approximate nonlinear formulations succeeded in capturing the stiffening terms, but failed in simulation of mechanical systems with large deformation due to the neglect of the high-order deforma...The previous low-order approximate nonlinear formulations succeeded in capturing the stiffening terms, but failed in simulation of mechanical systems with large deformation due to the neglect of the high-order deformation terms. In this paper, a new hybrid-coordinate formulation is proposed, which is suitable for flexible multibody systems with large deformation. On the basis of exact strain- displacement relation, equations of motion for flexible multi-body system are derived by using virtual work principle. A matrix separation method is put forward to improve the efficiency of the calculation. Agreement of the present results with those obtained by absolute nodal coordinate formulation （ANCF） verifies the correctness of the proposed formulation. Furthermore, the present results are compared with those obtained by use of the linear model and the low-order approximate nonlinear model to show the suitability of the proposed models.展开更多
A nonlinear beam formulation is presented based on the Gurtin-Murdoch surface elasticity and the modified couple stress theory. The developed model theoretically takes into account coupled effects of the energy of sur...A nonlinear beam formulation is presented based on the Gurtin-Murdoch surface elasticity and the modified couple stress theory. The developed model theoretically takes into account coupled effects of the energy of surface layer and microstructures size- dependency. The mid-plane stretching of a beam is incorporated using von-Karman nonlinear strains. Hamilton＇s principle is used to determine the nonlinear governing equation of motion and the corresponding boundary conditions. As a case study, pull-in instability of an electromechanical nano-bridge structure is studied using the proposed formulation. The nonlinear governing equation is solved by the analytical reduced order method （ROM） as well as the numerical solution. Effects of various parameters including surface layer, size dependency, dispersion forces, and structural damping on the pull- in parameters of the nano-bridges are discussed. Comparison of the results with the literature reveals capability of the present model in demonstrating the impact of nano- scale phenomena on the pull-in threshold of the nano-bridges.展开更多
A complete boundary integral formulation for steady compressible inviscid flows governed by nonlinear equations is established by using ρV as variable. Thus, the dimensionality of the problem to be solved is reduced ...A complete boundary integral formulation for steady compressible inviscid flows governed by nonlinear equations is established by using ρV as variable. Thus, the dimensionality of the problem to be solved is reduced by one and the computational mesh to be generated is needed only on the boundary of the domain.展开更多
Instead of using the previous straight beam element to approximate the curved beam,in this paper,a curvilinear coordinate is employed to describe the deformations,and a new curved beam element is proposed to model the...Instead of using the previous straight beam element to approximate the curved beam,in this paper,a curvilinear coordinate is employed to describe the deformations,and a new curved beam element is proposed to model the curved beam.Based on exact nonlinear strain-displacement relation,virtual work principle is used to derive dynamic equations for a rotating curved beam,with the effects of axial extensibility,shear deformation and rotary inertia taken into account.The constant matrices are solved numerically utilizing the Gauss quadrature integration method.Newmark and Newton-Raphson iteration methods are adopted to solve the differential equations of the rigid-flexible coupling system.The present results are compared with those obtained by commercial programs to validate the present finite method.In order to further illustrate the convergence and efficiency characteristics of the present modeling and computation formulation,comparison of the results of the present formulation with those of the ADAMS software are made.Furthermore,the present results obtained from linear formulation are compared with those from nonlinear formulation,and the special dynamic characteristics of the curved beam are concluded by comparison with those of the straight beam.展开更多
This paper presents the mathematical model consisting of conservation and balance laws (CBL) of classical continuum mechanics (CCM) and the constitutive theories derived using entropy inequality and representation the...This paper presents the mathematical model consisting of conservation and balance laws (CBL) of classical continuum mechanics (CCM) and the constitutive theories derived using entropy inequality and representation theorem for thermoviscoelastic solids (TVES) matter without memory. The CBL and the constitutive theories take into account finite deformation and finite strain deformation physics. This mathematical model is thermodynamically and mathematically consistent and is ideally suited to study nonlinear dynamics of TVES and dynamic bifurcation and is used in the work presented in this paper. The finite element formulations are constructed for obtaining the solution of the initial value problems (IVPs) described by the mathematical models. Both space-time coupled as well as space-time decoupled finite element methods are considered for obtaining solutions of the IVPs. Space-time coupled finite element formulations based on space-time residual functional (STRF) that yield space-time variationally consistent space-time integral forms are considered. This approach ensures unconditional stability of the computations during the entire evolution. In the space-time decoupled finite element method based on Galerkin method with weak form for spatial discretization, the solutions of nonlinear ODEs in time resulting from the decoupling of space and time are obtained using Newmark linear acceleration method. Newton’s linear method is used to obtain converged solution for the nonlinear system of algebraic equations at each time step in the Newmark method. The different aspects of the deformation physics leading to the factors that influence nonlinear dynamic response and dynamic bifurcation are established using the proposed mathematical model, the solution method and their validity is demonstrated through model problem studies presented in this paper. Energy methods and superposition techniques in any form including those used in obtaining solutions are neither advocated nor used in the present work as these are not supported by calculus of variations and mathematical classification of differential operators appearing in nonlinear dynamics. The primary focus of the paper is to address various aspects of the deformation physics in nonlinear dynamics and their influence on dynamic bifurcation phenomenon using mathematical models strictly based on CBL of CCM using reliable unconditionally stable space-time coupled solution methods, which ensure solution accuracy or errors in the calculated solution are always identified. Many model problem studies are presented to further substantiate the concepts presented and discussed in the paper. Investigations presented in this paper are also compared with published works when appropriate.展开更多
Soft pneumatic robotic grippers have found extensive applica-tions across various engineering domains,which prompts active research due to their splendid compliance,high flex-ibility,and safe human-robot interaction o...Soft pneumatic robotic grippers have found extensive applica-tions across various engineering domains,which prompts active research due to their splendid compliance,high flex-ibility,and safe human-robot interaction over conventional stiff counterparts.Previously simplified rod-based models prin-cipally focused on clarifying overall large deformation and bending postures of soft grippers from static or quasi-static perspectives,whereas it is challenging to elaborate grasping characteristics of soft grippers without considering contact interaction and nonlinear large deformation behaviors.To address this,based on absolute nodal coordinate formulation(ANCF),comprehensively allowing for structural complexity,geometric,material and boundary nonlinearities,and incorpor-ating Coulomb’friction law with a multiple-point contact method,we put forward an effective nonlinear dynamic mod-eling approach for exploring grasping capability of soft grip-per.Moreover,we solved the established dynamic equations using Generalized-αscheme,and conducted thorough numer-ical simulation analysis on a three-jaw soft pneumatic gripper(SPG)in terms of grasping configurations,displacements and contact forces.The proposed dynamic approach can accurately both describe complicated deformed configurations along with stress distribution and provide a feasible solution to simulate grasping targets,whose effectiveness and precision were analyzed theoretically and verified experimentally,which may shed new light on devising and optimizing other multi-functional SPGs.展开更多
文摘The classical phase field model has wide applications for brittle materials,but nonlinearity and inelasticity are found in its stress-strain curve.The degradation function in the classical phase field model makes it a linear formulation of phase field and computationally attractive,but stiffness reduction happens even at low strain.In this paper,generalized polynomial degradation functions are investigated to solve this problem.The first derivative of degradation function at zero phase is added as an extra constraint,which renders higher-order polynomial degradation function and nonlinear formulation of phase field.Compared with other degradation functions(like algebraic fraction function,exponential function,and trigonometric function),this polynomial degradation function enables phase in[0,1](should still avoid the first derivative of degradation function at zero phase to be 0),so there is noconvergence problem.The good and meaningful finding is that,under the same fracture strength,the proposed phase field model has a larger length scale,which means larger element size and better computational efficiency.This proposed phase field model is implemented in LS-DYNA user-defined element and user-defined material and solved by the Newton-Raphson method.A tensile test shows that the first derivative of degradation function at zero phase does impact stress-strain curve.Mode I,mode II,and mixed-mode examples show the feasibility of the proposed phase field model in simulating brittle fracture.
基金the National Natural Science Foundation of China(10472066,50475021).
文摘The previous low-order approximate nonlinear formulations succeeded in capturing the stiffening terms, but failed in simulation of mechanical systems with large deformation due to the neglect of the high-order deformation terms. In this paper, a new hybrid-coordinate formulation is proposed, which is suitable for flexible multibody systems with large deformation. On the basis of exact strain- displacement relation, equations of motion for flexible multi-body system are derived by using virtual work principle. A matrix separation method is put forward to improve the efficiency of the calculation. Agreement of the present results with those obtained by absolute nodal coordinate formulation （ANCF） verifies the correctness of the proposed formulation. Furthermore, the present results are compared with those obtained by use of the linear model and the low-order approximate nonlinear model to show the suitability of the proposed models.
文摘A nonlinear beam formulation is presented based on the Gurtin-Murdoch surface elasticity and the modified couple stress theory. The developed model theoretically takes into account coupled effects of the energy of surface layer and microstructures size- dependency. The mid-plane stretching of a beam is incorporated using von-Karman nonlinear strains. Hamilton＇s principle is used to determine the nonlinear governing equation of motion and the corresponding boundary conditions. As a case study, pull-in instability of an electromechanical nano-bridge structure is studied using the proposed formulation. The nonlinear governing equation is solved by the analytical reduced order method （ROM） as well as the numerical solution. Effects of various parameters including surface layer, size dependency, dispersion forces, and structural damping on the pull- in parameters of the nano-bridges are discussed. Comparison of the results with the literature reveals capability of the present model in demonstrating the impact of nano- scale phenomena on the pull-in threshold of the nano-bridges.
文摘A complete boundary integral formulation for steady compressible inviscid flows governed by nonlinear equations is established by using ρV as variable. Thus, the dimensionality of the problem to be solved is reduced by one and the computational mesh to be generated is needed only on the boundary of the domain.
基金supported by the National Natural Science Foundation of China(10872126)Research Fund for the Doctoral Program of Higher Education of China(20100073110007)
文摘Instead of using the previous straight beam element to approximate the curved beam,in this paper,a curvilinear coordinate is employed to describe the deformations,and a new curved beam element is proposed to model the curved beam.Based on exact nonlinear strain-displacement relation,virtual work principle is used to derive dynamic equations for a rotating curved beam,with the effects of axial extensibility,shear deformation and rotary inertia taken into account.The constant matrices are solved numerically utilizing the Gauss quadrature integration method.Newmark and Newton-Raphson iteration methods are adopted to solve the differential equations of the rigid-flexible coupling system.The present results are compared with those obtained by commercial programs to validate the present finite method.In order to further illustrate the convergence and efficiency characteristics of the present modeling and computation formulation,comparison of the results of the present formulation with those of the ADAMS software are made.Furthermore,the present results obtained from linear formulation are compared with those from nonlinear formulation,and the special dynamic characteristics of the curved beam are concluded by comparison with those of the straight beam.
文摘This paper presents the mathematical model consisting of conservation and balance laws (CBL) of classical continuum mechanics (CCM) and the constitutive theories derived using entropy inequality and representation theorem for thermoviscoelastic solids (TVES) matter without memory. The CBL and the constitutive theories take into account finite deformation and finite strain deformation physics. This mathematical model is thermodynamically and mathematically consistent and is ideally suited to study nonlinear dynamics of TVES and dynamic bifurcation and is used in the work presented in this paper. The finite element formulations are constructed for obtaining the solution of the initial value problems (IVPs) described by the mathematical models. Both space-time coupled as well as space-time decoupled finite element methods are considered for obtaining solutions of the IVPs. Space-time coupled finite element formulations based on space-time residual functional (STRF) that yield space-time variationally consistent space-time integral forms are considered. This approach ensures unconditional stability of the computations during the entire evolution. In the space-time decoupled finite element method based on Galerkin method with weak form for spatial discretization, the solutions of nonlinear ODEs in time resulting from the decoupling of space and time are obtained using Newmark linear acceleration method. Newton’s linear method is used to obtain converged solution for the nonlinear system of algebraic equations at each time step in the Newmark method. The different aspects of the deformation physics leading to the factors that influence nonlinear dynamic response and dynamic bifurcation are established using the proposed mathematical model, the solution method and their validity is demonstrated through model problem studies presented in this paper. Energy methods and superposition techniques in any form including those used in obtaining solutions are neither advocated nor used in the present work as these are not supported by calculus of variations and mathematical classification of differential operators appearing in nonlinear dynamics. The primary focus of the paper is to address various aspects of the deformation physics in nonlinear dynamics and their influence on dynamic bifurcation phenomenon using mathematical models strictly based on CBL of CCM using reliable unconditionally stable space-time coupled solution methods, which ensure solution accuracy or errors in the calculated solution are always identified. Many model problem studies are presented to further substantiate the concepts presented and discussed in the paper. Investigations presented in this paper are also compared with published works when appropriate.
基金supported by Natural Science Foundation of Zhejiang Province (Grant No.LQ22A020003)National Natural Science Foundation of China (Grant No.52075499)for which all authors are grateful.
文摘Soft pneumatic robotic grippers have found extensive applica-tions across various engineering domains,which prompts active research due to their splendid compliance,high flex-ibility,and safe human-robot interaction over conventional stiff counterparts.Previously simplified rod-based models prin-cipally focused on clarifying overall large deformation and bending postures of soft grippers from static or quasi-static perspectives,whereas it is challenging to elaborate grasping characteristics of soft grippers without considering contact interaction and nonlinear large deformation behaviors.To address this,based on absolute nodal coordinate formulation(ANCF),comprehensively allowing for structural complexity,geometric,material and boundary nonlinearities,and incorpor-ating Coulomb’friction law with a multiple-point contact method,we put forward an effective nonlinear dynamic mod-eling approach for exploring grasping capability of soft grip-per.Moreover,we solved the established dynamic equations using Generalized-αscheme,and conducted thorough numer-ical simulation analysis on a three-jaw soft pneumatic gripper(SPG)in terms of grasping configurations,displacements and contact forces.The proposed dynamic approach can accurately both describe complicated deformed configurations along with stress distribution and provide a feasible solution to simulate grasping targets,whose effectiveness and precision were analyzed theoretically and verified experimentally,which may shed new light on devising and optimizing other multi-functional SPGs.
