Handouts

- Motion and Deformation
- Finite Element Approximation
- Computing Static Deformation
- Computing Dynamic Deformation
- Deformation Models
- Inelastic Deformation
- Isotropy and Invariants

- One-dimensional Soft Body Model
- Two-dimensional Soft Body Model
- Three-dimensional Soft Body Model
- Static Deformation (2D)
- Static Deformation (3D)
- Dynamic Deformation (2D)
- Inelastic Deformation (2D)

Sample Programs: One-dimensional Soft Body Model

Sample Programs: Two-dimensional Soft Body Model

- calculating Lamé's constants
- nodal points and triangles of a rectangular body
- searching a specified value in ascending ordered column vector

- calculating Lamé's constants
- nodal points and tetrahedra of a cuboidal body
- searching a specified value in ascending ordered column vector

- Expansion of membrane by pressure
- area of a polygon (directory two_dim_fea)
- gradient of area of a polygon (directory two_dim_fea)

- Cauchy and Green strains (deformed by external force)
- Cauchy and Green strains (rectangle elements, deformed by external force)
- Cauchy and Green strains (deformed by gravity)

Cauchy strain | Green strain | Cauchy strain | Green strain |

- Elastic ring deformed by spring actuators
- nodal points and triangles of a ring body (directory two_dim_fea)

natural | under gravity | A1 |

A2 | A2, A6 | A2, A6, A7 |

- Elastic ring deforming on floor

A1, A5 | on floor |

- twisting a beam (Cauchy strain)
- twisting a beam (Green strain)

natural | Cauchy strain | Green strain |

- membrane expansion by pressure
- nodal forces equivalent to pressure application

natural | 40 kPa | 80 kPa |

- beam bending (Cauchy strain)
- beam bending (Green strain)
- calculating Green strain based forces (directory two_dim_fea)

- jumping 2D soft robot model (4×4) rectangular elements
- jumping 2D soft robot model (10×10) rectangular elements

- rolling of elastic ring

Cauchy strain | Green strain |

damping 2 | damping 200 | damping 20000 |