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Simon R. Eugster

Publications and source records attributed to Simon R. Eugster.

7 recordsLinked to original sources

On the synthesis of complete two-dimensional second-gradient continua: Tri-pantographic fabrics

We introduce a notion of completeness for two-dimensional second-gradient elastic continua and propose a microstructural route toward its synthesis. A continuum is said to be complete if the Hessian of the stored energy with respect to the second-gradient variable is locally positive definite, so that every nonzero admissible increment of the placement second gradient is quadratically controlled in the highest-order part of the energy about each configuration. Starting from the Principle of Virtual Work, we derive the constitutive relations, equilibrium equations, and admissible boundary interactions for a broad class of fibrous second-gradient continua whose stored energies depend on fiber stretch, stretch gradients, and curvature. The theory is then applied to several continua motivated by pantographic microstructures. Classical pantographic sheets are shown to be incomplete, while bi-pantographic fabrics enlarge the class of components of the second gradient detected by the energy but remain incomplete. Finally, we formulate a tri-pantographic continuum associated with a proposed three-family architecture and prove that it is complete. The examples illustrate how microstructural architecture influences both the completeness properties of an effective continuum and the pointwise form of its higher-order boundary interactions.

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A Mixed Discrete Cosserat Rod Formulation

In this communication we propose a discrete Cosserat rod formulation in which a slender elastic rod is represented as a chain of rigid bodies (nodes) coupled by compliant elastic forces and moments acting between adjacent node pairs. Discrete dilatation, shear, torsion and curvature strain measures are evaluated from the relative kinematics of each node pair, while the constitutive behavior is expressed in compliance form through independent stress degrees of freedom. We show that the resulting model arises rigorously from a mixed Petrov--Galerkin Cosserat rod finite element formulation (FEM) at linear kinematic interpolation order when the internal virtual work is integrated by the midpoint rule and the external and inertial contributions by the trapezoidal rule. The proposed formulation inherits the robustness and the absence of locking from the underlying mixed FEM while simultaneously exposing a two-node coupling structure that mirrors discrete rod models from the computer graphics community. This is in sharp contrast to the dense coupling of strain-parameterized reduced-order models often used in soft robotic applications. Three numerical examples involving piecewise-varying cross sections, tendon-driven actuation under different spatial discretizations, and coupled longitudinal-torsional dynamics confirm the accuracy, robustness, and convergence behavior of the presented approach.

math.NA

Mixed formulation and structure-preserving discretization of Cosserat rod dynamics in a port-Hamiltonian framework

An energy-based modeling framework for the nonlinear dynamics of spatial Cosserat rods undergoing large displacements and rotations is proposed. The mixed formulation features independent displacement, velocity and stress variables and is further objective and locking-free. Finite rotations are represented using a director formulation that avoids singularities and yields a constant mass matrix. This results in an infinite-dimensional nonlinear port-Hamiltonian (PH) system governed by partial differential-algebraic equations with a quadratic energy functional. Using a time-differentiated compliance form of the stress-strain relations allows for the imposition of kinematic constraints, such as inextensibility or shear-rigidity. A structure-preserving finite element discretization leads to a finite-dimensional system with PH structure, thus facilitating the design of an energy-momentum consistent integration scheme. Dissipative material behavior (via the generalized-Maxwell model) and non-standard actuation approaches (via pneumatic chambers or tendons) integrate naturally into the framework. As illustrated by selected numerical examples, the present framework establishes a new approach to energy-momentum consistent formulations in computational mechanics involving finite rotations.

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A mixed Petrov-Galerkin Cosserat rod finite element formulation

This paper presents a total Lagrangian mixed Petrov-Galerkin finite element formulation that provides a computationally efficient approach for analyzing Cosserat rods that is free of singularities and locking. To achieve a singularity-free orientation parametrization of the rod, the nodal kinematical unknowns are defined as the nodal centerline positions and unit quaternions. We apply Lagrange interpolation to all nodal kinematic coordinates, and in combination with a projection of non-unit quaternions, this leads to an interpolation with orthonormal cross-section-fixed bases. To eliminate locking effects such as shear locking, the variational Hellinger-Reissner principle is applied, resulting in a mixed approach with additional fields composed of resultant contact forces and moments. Since the mixed formulation contains the constitutive law in compliance form, it naturally incorporates constrained theories, such as the Kirchhoff-Love theory. This study specifically examines the influence of the additional internal force fields on the numerical performance, including locking mitigation and robustness. Using well-established benchmark examples, the method demonstrates enhanced computational robustness and efficiency, as evidenced by the reduction in required load steps and iterations when applying the standard Newton-Raphson method.

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Non-unit quaternion parametrization of a Petrov-Galerkin Cosserat rod finite element

The application of the Petrov-Galerkin projection method in Cosserat rod finite element formulations offers significant advantages in simplifying the expressions within the discrete virtual work functionals. Moreover, it enables a straight-forward and systematic exchange of the ansatz functions, specifically for centerline positions and cross-section orientations. In this concise communication, we present a total Lagrangian finite element formulation for Cosserat rods that attempts to come up with the least required concepts. The chosen discretization preserves objectivity and allows for large displacements/rotations and for large strains. The orientation parametrization with non-unit quaternions results in a singularity-free formulation.

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A family of total Lagrangian Petrov-Galerkin Cosserat rod finite element formulations

The standard in rod finite element formulations is the Bubnov-Galerkin projection method, where the test functions arise from a consistent variation of the ansatz functions. This approach becomes increasingly complex when highly nonlinear ansatz functions are chosen to approximate the rod's centerline and cross-section orientations. Using a Petrov-Galerkin projection method, we propose a whole family of rod finite element formulations where the nodal generalized virtual displacements and generalized velocities are interpolated instead of using the consistent variations and time derivatives of the ansatz functions. This approach leads to a significant simplification of the expressions in the discrete virtual work functionals. In addition, independent strategies can be chosen for interpolating the nodal centerline points and cross-section orientations. We discuss three objective interpolation strategies and give an in-depth analysis concerning locking and convergence behavior for the whole family of rod finite element formulations.

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A total Lagrangian, objective and intrinsically locking-free Petrov-Galerkin SE(3) Cosserat rod finite element formulation

Based on more than three decades of rod finite element theory, this publication unifies all the successful contributions found in literature and eradicates the arising drawbacks like loss of objectivity, locking, path-dependence and redundant coordinates. Specifically, the idea of interpolating the nodal orientations using relative rotation vectors, proposed by Crisfield and Jelenić in 1999, is extended to the interpolation of nodal Euclidean transformation matrices with the aid of relative twists; a strategy that arises from the SE(3)-structure of the Cosserat rod kinematics. Applying a Petrov-Galerkin projection method, we propose a novel rod finite element formulation where the virtual displacements and rotations as well as the translational and angular velocities are interpolated instead of using the consistent variations and time-derivatives of the introduced interpolation formula. Properties such as the intrinsic absence of locking, preservation of objectivity after discretization and parametrization in terms of a minimal number of nodal unknowns are demonstrated by conclusive numerical examples in both statics and dynamics.

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