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Meshfree elastoplastic solid for non-smooth multi-domain dynamics
Umeå University, Faculty of Science and Technology, Department of Physics.
Umeå University, Faculty of Science and Technology, Department of Physics.ORCID iD: 0000-0002-0787-4988
(English)In: International Journal for Numerical Methods in Engineering, ISSN 0029-5981, E-ISSN 1097-0207Article in journal (Refereed) Submitted
Abstract [en]

A method for simulation of elastoplastic solids in multibody systems with nonsmooth and multidomain dynamics is developed. The solid is discretised into pseudo-particles using the meshfree moving least squares method. The particles carry strain and stress tensor variables that are mapped to deformation constraints and constraint forces. The discretised solid model thus fit a unified framework for nonsmooth multidomain dynamics for realtime simulations including strong coupling of rigid multibodies with complex kinematic constraints such as articulation joints, unilateral contacts with dry friction, drivelines and hydraulics. The nonsmooth formulation allow for impulses, due to impacts for instance, to propagate instantly between the rigid multibody and the solid. Plasticity is introduced through an associative perfectly plastic modified Drucker-Prager model. The elastic and plastic dynamics is verified for simple test systems and the capability of simulating tracked terrain vehicles driving on a deformable terrain is demonstrated.

Keyword [en]
multidomain; nonsmooth dynamics; meshfree; elastoplastic; deformable terrain; multibody dynamics
National Category
Other Physics Topics Computational Mathematics Applied Mechanics
URN: urn:nbn:se:umu:diva-110727OAI: diva2:865116
Available from: 2015-10-26 Created: 2015-10-26 Last updated: 2016-01-15Bibliographically approved

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Nordberg, JohnServin, Martin
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