Computational dynamics of soft machines

Soft machine refers to a kind of mechanical system made of soft materials to complete sophisticated mis-sions, 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 compu-tational 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 deforma-tions of a soft component, the physical nonlinearities of a soft component made of hyperelastic or elastoplastic mate-rials, 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 non-linear elastic force vector of finite elements. The validations of the proposed approaches are given via three case stud-ies, 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.     

A Nodal Method for Phase Change Moving Boundary Problems

A semi-analytic numerical scheme has been developed to solve the one-dimensional, moving boundary phase change problem with time-dependent boundary conditions. Locally analytic, approximate solutions are developed for the position of the moving boundary, and for temperature distribution. Set of discrete equations are obtained by applying these solutions over space-time nodes, and by imposing continuity of temperature and heat flux. Application of this so-called nodal integral approach to the nonlinear Stefan problem shows that the scheme is O(Δx ²), and that it predicts the position of the moving boundary and the temperature distribution within the domain very accurately. For example, with as little as two nodes in the spatial domain, the location of the moving boundary for the case of an exponentially increasing surface temperature on the boundary, after one dimensionless time unit, is found with an error of less than 1%. In addition to large size nodes in space, this scheme also allows the use of very large size time steps. Comparison of numerical results with reference solutions is presented.     

基于结点应力误差估计的自适应网格划分

提出了基于结点应力误差估计对围绕该结点单元进行自适应网格划分的新方法。首先建立了基于2-范数的结点应力误差估计方法,然后在引入误差在各结点内等分布假定的基础上,给出了基于结点应力误差估计的自适应网格划分策略。最后结合工程实际中对高应力区结点应力的精度需要,给出了考虑结点应力大小的误差分配方案和相应的自适应网格划分方法,从而既对高应力区进行了网格优化,又兼顾了数学意义上误差较大的区域,更符合工程实际要求。算例计算结果表明,本文的方法是可行、有效的。     

柔性多体系统动力学绝对节点坐标方法研究进展

阐述了多体系统动力学理论的研究背景,指出了多种传统的柔性多体系统动力学研究方法的不足.系统地从4个方面回顾了柔性多体系统动力学绝对节点坐标方法诞生十几年以来的研究进展,即:单元研究进展、系统动力学方程求解数值算法研究进展、非线性材料多体系统动力学研究进展以及相关的应用研究进展.最后提出了值得进一步研究的问题.      

节块内嵌离散纵标(SN)方法的算法研究及程序开发

介绍节块内嵌离散纵标(S_N)方法求解三维堆芯中子输运/扩散方程的算法框架.在基于扩散理论的三维粗网节块展开方法(NEM)的算法体系中,用基于输运理论的径向二维细网节块离散纵标方法(NDOM)的内迭代过程,替代节块展开方法(NEM)内迭代的径向求解过程.该算法充分考虑了核电厂反应堆堆芯的三维结构特点,另一方面,也充分利用了已经成熟的三维粗网节块展开方法(NEM)和二维离散纵标方法(S_N)的研究成果,同时有效避免了利用离散纵标方法(S_N)求解三维中子输运方程所面临的计算内存和计算时间的瓶颈问题.编制开发二维多群节块离散纵标方法(NDOM)模块程序NS_NM和三维多群节块展开方法(NEM)模块程序MGNEM,并以此为基础编制开发节块内嵌S_N方法的模块程序HANWIND;其中,NS_NM为HANWIND求解两维问题的功能模块.针对OECD/NEA-2D C5G7MOX基准问题以及两环路核电厂三维堆芯的数值验算结果表明,节块内嵌S_N方法的算法开发及程序编制有效、切实可行.     

Superstable Manifolds of Semilinear Parabolic Problems

We investigate the dynamics of the semiflow φ induced on H₀¹(Ω) by the Cauchy problem of the semilinear parabolic equation

Flexible Multibody Simulation and Choice of Shape Functions

The approach most widely used for the modelling of flexible bodies in multibody systems has been called the floating frame of reference formulation. In this methodology the flexible body motion is subdivided into a reference motion and deformation. The displacement field due to deformation is approximated by the Ritz method as a product of known shape functions and unknown coordinates depending on time only. The shape functions may be obtained using finite-element-models of flexible bodies in multibody systems, resulting in a detailed system representation and a high number of system equations. The number of system equations of such a nodal approach can be reduced considerably using a modal representation of deformation. This modal approach, however, leads to the fundamental problem of selecting the shape functions.The floating frame of reference formulation is reviewed here using a generic flexible body model, from which the various body models used in multibody simulations may be derived by formulation of specific constraint equations. Special attention is given in this investigation to the following subjects: The separation of flexible body motion into a reference motion and deformation requires the definition of a body reference frame, which in turn affects the choice of shape functions. Some alternatives will be outlined together with their advantages and disadvantages. Assuming the body deformation to be small, the system equations can be linearized. This may require considering geometric stiffening terms. The problem of how to compute these terms has been solved in literature on the instability of structures under critical loads. For finite element models the geometric stiffening terms are obtained from the tangential stiffness matrix. The generality of the flexible body model allows the definition of an object oriented data base to describe the system bodies. Such a data base includes a general interface between multibody- and finite-element-codes. By combining eigenfunctions and static deformation modes to represent body deformation one obtains a set of so-called quasi-comparison functions. When selected properly these functions can be shown to improve the representation of stresses significantly.