Soft machines: challenges to computational dynamics

Abstract eng:
The lecture presents the study on modeling and simulating the dynamics of soft machines from the viewpoint of rigid-soft multibody systems. The study focuses on the description of nonlinear dynamics of coupled overall motion and large deformation of a soft body made of elastic or hyper-elastic material, the modeling of frictional contacts or even entanglements of soft bodies, as well as the efficient dynamic computation algorithm of rigid-soft multibody system governed by a set of differential-algebraic equations of very high dimensions. The lecture illustrates the proposed approach through a number of case studies, including the knotting of two threads, the deployment of a mesh reflector of satellite antenna and the deployment of a spinning solar sails of spacecraft, as well as the corresponding validations via ground experiments.

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