Relevant bibliographies by topics / Cosserat rod-theory

Contents

  1. Journal articles
  2. Dissertations / Theses
  3. Book chapters
  4. Conference papers

Academic literature on the topic 'Cosserat rod-theory'

Author: Grafiati
Published: 3 June 2025
Last updated: 20 July 2025

Create a spot-on reference in APA, MLA, Chicago, Harvard, and other styles

Select a source type:

Consult the lists of relevant articles, books, theses, conference reports, and other scholarly sources on the topic 'Cosserat rod-theory.'

Next to every source in the list of references, there is an 'Add to bibliography' button. Press on it, and we will generate automatically the bibliographic reference to the chosen work in the citation style you need: APA, MLA, Harvard, Chicago, Vancouver, etc.

You can also download the full text of the academic publication as pdf and read online its abstract whenever available in the metadata.

Journal articles on the topic "Cosserat rod-theory"

1

Zhang, Hou Bin, Mao Sheng Jiang, and Ying Wu. "A Cosserat Rod Model of Multi-Symplectic Structure and its Numerical Treatment." Advanced Materials Research 712-715 (June 2013): 1395–400. http://dx.doi.org/10.4028/www.scientific.net/amr.712-715.1395.

Full text
Abstract:
In this paper, a Hamiltonian formulation of the Cosserat rod model is proposed. The model, based on the Cossert rod theory incorporates shear, elongation, flexure and twist deformation, is of multi-symplectic structure. A multi-symplectic algorithm is employed to discretize the equation and a numerical example is giving.
APA, Harvard, Vancouver, ISO, and other styles
2

Beliaev, Mikhail, Vladimir Lalin, and Vladimir Kuroedov. "Geometrically Nonlinear Rods Theory - Comparison of the Results Obtained by Cosserat-Timoshenko and Kirchhoff's Rod Theories." Applied Mechanics and Materials 725-726 (January 2015): 629–35. http://dx.doi.org/10.4028/www.scientific.net/amm.725-726.629.

Full text
Abstract:
Up to the present solutions for geometrically nonlinear rods were obtained only by the Kirchhoff’s theory. This theory disregards flexibility of the rod on tension and shear. For rods in modern software suites the Cosserat-Timoshenko rod theory is generally used. As opposed to Kirchhoff’s theory it takes into account tensile and shear stiffness. This paper presents solutions obtained by Cosserat-Timoshenko rod theory. These results can be used as benchmark problem for verification of software suites.
APA, Harvard, Vancouver, ISO, and other styles
3

Rubin, M. B. "Free Vibration of a Rectangular Parallelepiped Using the Theory of a Cosserat Point." Journal of Applied Mechanics 53, no. 1 (1986): 45–50. http://dx.doi.org/10.1115/1.3171736.

Full text
Abstract:
Free vibration of a rectangular parallelepiped composed of a homogeneous linear elastic isotropic material is studied. The parallelepiped is modeled as an isotropic Cosserat point and simple formulas are developed to predict the lowest frequencies of vibration. Within the context of the theory, extensional and shear vibrations are uncoupled. The lowest extensional frequency predicted by the Cosserat theory is compared with available exact solutions and with predictions of thin rod theory. Finally, by introducing a simple modification of the director inertia coefficient it is shown that the Cosserat predictions of the extensional frequencies are correct.
APA, Harvard, Vancouver, ISO, and other styles
4

Rubin, M. B. "Equivalence of a Constrained Cosserat Theory and Antman’s Special Cosserat Theory of a Rod." Journal of Elasticity 140, no. 1 (2020): 39–47. http://dx.doi.org/10.1007/s10659-019-09761-9.

Full text
APA, Harvard, Vancouver, ISO, and other styles
5

Wang, Honghong, Jingli Du, and Yi Mao. "Cosserat Rod-Based Tendon Friction Modeling, Simulation, and Experiments for Tendon-Driven Continuum Robots." Micromachines 16, no. 3 (2025): 346. https://doi.org/10.3390/mi16030346.

Full text
Abstract:
Traditional tendon-driven continuum robot (TDCR) models based on Cosserat rod theory often assume that tendon tension is a continuous wrench along the backbone. However, this assumption overlooks critical factors, including the discrete arrangement of disks, the segmented configuration of tensioned tendons, and the friction between tendons and guide holes. Additionally, tendon forces are not continuous but discrete, concentrated wrenches, with the frictional force magnitude and direction varying based on the TDCR’s bending configuration. We propose a TDCR modeling method that integrates Cosserat rod theory with a finite element approach to address these limitations. We construct a Cosserat rod model for the robot’s backbone, discretize the tendon geometry using the finite element method (FEM), and incorporate friction modeling between tendons and guide holes. Furthermore, we introduce an algorithm to determine the direction of friction forces, enhancing modeling accuracy. This approach results in a more realistic and comprehensive mathematical representation of TDCR behavior. Numerical simulations under various tendon-routing scenarios are conducted and compared with classical TDCR models. The results indicate that our friction-inclusive model improves accuracy, yielding an average configuration deviation of only 0.3% across different tendon routings. Experimental validation further confirms the model’s accuracy and robustness.
APA, Harvard, Vancouver, ISO, and other styles
6

Rubin, M. B. "Numerical Solution Procedures for Nonlinear Elastic Curved Rods Using the Theory of a Cosserat Point." Mathematics and Mechanics of Solids 10, no. 1 (2005): 89–126. http://dx.doi.org/10.1177/1081286504033005.

Full text
Abstract:
The numerical solution of problems of curved rods can be formulated using rod elements developed within the context of the theory of a Cosserat point. Although the general theory is valid for curved rods, the constitutive coefficients have been determined by comparison with exact linear solutions only for straight beams. The objective of this paper is to explore the accuracy of the predictions of the Cosserat theory for curved rods by comparison with exact solutions. Specifically, these problems include: linearized axisymmetric deformation of a circular ring loaded with internal and external pressures; nonlinear axisymmetric inversion of a circular ring; and linearized pure bending of a section of a circular ring. In all cases, the Cosserat theory performs well with no modifications of the constitutive constants, even in the limit of reasonably thick rods. Also, it is shown that the Cosserat theory does not exhibit shear locking in the limit of thin rods.
APA, Harvard, Vancouver, ISO, and other styles
7

Alqumsan, Ahmad Abu, Suiyang Khoo, and Michael Norton. "Robust control of continuum robots using Cosserat rod theory." Mechanism and Machine Theory 131 (January 2019): 48–61. http://dx.doi.org/10.1016/j.mechmachtheory.2018.09.011.

Full text
APA, Harvard, Vancouver, ISO, and other styles
8

Bhashi, Bhashi, S. Sreejath, and S. P. Singh. "Experimentation Evaluation of Dynamics of Steel Wire Rope." Key Engineering Materials 996 (December 6, 2024): 133–42. https://doi.org/10.4028/p-wtr6ta.

Full text
Abstract:
Wire ropes represent a distinct category of ropes synthesized through the intertwining or braiding of individual steel wires. This unique construction confers notable attributes such as strength, flexibility, and durability to the resultant rope. The pervasive wire ropes across diverse industries underscores their capacity to adeptly manage substantial loads and endure adverse environmental conditions finding its application in mechanical, civil, mining, and marine engineering. This paper presents usage of image processing method to detect the deflection of a steel wire rope. The system comprises of dividing the wire rope into different sections, spatial referencing, frame separation, color-based detection, morphological operations, data collection and visualization. The steel wire rope deflection program will allow designers to conveniently process the transverse deflection trajectories of a steel wire rope in real time. One may further introduce any control actions when the deflection distance reaches a threshold value. The image-based algorithm enabled a robust detection of the deformed shape as a function of time, thus obtaining its dynamic trajectories. The deflection shapes and trajectories are compared with numerical predictions made using Cosserat Rod theory, which considers the geometric nonlinearities introduced due to large deflection. The numerical solution gave a rough estimate of the static deformation state of the wire, which agrees with the experimental results. This study will be useful for Structural Health Monitoring, Safety Assurance, Fatigue Analysis and Performance optimization. Moreover, the Continuum Mechanics employs Cosserat rod theory to model continuum robots which will provide enhanced computational efficiency and better dynamic simulation capabilities[18]. The deflection shapes and trajectories are compared with analytical predictions made using Cosserat Rod theory, which considers the geometric nonlinearities introduced due to large deflection.
APA, Harvard, Vancouver, ISO, and other styles
9

Smriti, Ajeet Kumar, Alexander Großmann, and Paul Steinmann. "A thermoelastoplastic theory for special Cosserat rods." Mathematics and Mechanics of Solids 24, no. 3 (2018): 686–700. http://dx.doi.org/10.1177/1081286517754132.

Full text
Abstract:
A general framework is presented to model coupled thermoelastoplastic deformations in the theory of special Cosserat rods. The use of the one-dimensional form of the energy balance in conjunction with the one-dimensional entropy balance allows us to obtain an additional equation for the evolution of a temperature-like one-dimensional field variable, together with constitutive relations for this theory. Reduction to the case of thermoelasticity leads us to the well-known nonlinear theory of thermoelasticity for special Cosserat rods. Later on, additive decomposition is used to separate the thermoelastic part of the strain measures of the rod from their plastic counterparts. We then present the most general quadratic form of the Helmholtz energy per unit undeformed length for both hemitropic and transversely isotropic rods. We also propose a prototype yield criterion in terms of forces, moments, and hardening stress resultants, as well as associative flow rules for the evolution of plastic strain measures and hardening variables.
APA, Harvard, Vancouver, ISO, and other styles
10

Linn, J., H. Lang, and A. Tuganov. "Geometrically exact Cosserat rods with Kelvin–Voigt type viscous damping." Mechanical Sciences 4, no. 1 (2013): 79–96. http://dx.doi.org/10.5194/ms-4-79-2013.

Full text
Abstract:
Abstract. We present the derivation of a simple viscous damping model of Kelvin–Voigt type for geometrically exact Cosserat rods from three-dimensional continuum theory. Assuming moderate curvature of the rod in its reference configuration, strains remaining small in its deformed configurations, strain rates that vary slowly compared to internal relaxation processes, and a homogeneous and isotropic material, we obtain explicit formulas for the damping parameters of the model in terms of the well known stiffness parameters of the rod and the retardation time constants defined as the ratios of bulk and shear viscosities to the respective elastic moduli. We briefly discuss the range of validity of the Kelvin–Voigt model and illustrate its behaviour for large bending deformations with a numerical example.
APA, Harvard, Vancouver, ISO, and other styles
More sources

Dissertations / Theses on the topic "Cosserat rod-theory"

1

Silveira, Marcos. "A comprehensive model of drill-string dynamics using Cosserat rod theory." Thesis, University of Aberdeen, 2011. http://digitool.abdn.ac.uk:80/webclient/DeliveryManager?pid=185869.

Full text
Abstract:
The drill-strings used in drilling operate under extreme condi-tions, therefore, an accurate understanding of their dynamics is necessary and has attracted much interest. Although a bottom hole assembly (BHA) is to a great ex- tent responsible for the dynamics of the system, the in uence of the drill-pipes has been increasingly neglected by current models. Their dynamics and geometrical behaviour should be better analysed for a deeper understanding of underlying phe- nomena. For example, under stick-slip oscillations, the torque on the drill-string may cause torsional buckling of the drill-pipes, incurring in helical con guration, in which the apparent length is reduced, a ecting the forces at the bit{rock interface. With such behaviour and interactions in mind, this work focuses on elaborating a comprehensive mathematical model to investigate the dynamics of drill-strings, with attention to the drill-pipes section. Firstly, lower dimensional models are used to analyse the stick-slip limit cycle and its limits of existence. Then, a model developed for MEMS is used as a base for a comprehensive model using the formu- lation of Cosserat rods. Relevant boundary conditions are applied and a numerical simulation procedure is established. Simulations are performed for a range of sce- narios under stick-slip occurrence, and the behaviour of the drill-pipes is analysed. Focus is then given to axial vibrations with bit-bounce and the in uence on stick- slip, later to lateral vibrations with whirling motion of the drill-pipes, and nally to helical con gurations, taken by the drill-string under combined torsional, axial and lateral loads, showing the consequent shortening of the drill-string.
APA, Harvard, Vancouver, ISO, and other styles
2

Rajathachal, Karthik M. "Application Of Polynomial Reproducing Schemes To Nonlinear Mechanics." Thesis, 2009. https://etd.iisc.ac.in/handle/2005/1093.

Full text
Abstract:
The application of polynomial reproducing methods has been explored in the context of linear and non linear problems. Of specific interest is the application of a recently developed reproducing scheme, referred to as the error reproducing kernel method (ERKM), which uses non-uniform rational B-splines (NURBS) to construct the basis functions, an aspect that potentially helps bring in locall support, convex approximation and variation diminishing properties in the functional approximation. Polynomial reproducing methods have been applied to solve problems coming under the class of a simplified theory called Cosserat theory. Structures such as a rod which have special geometric properties can be modeled with the aid of such simplified theories. It has been observed that the application of mesh-free methods to solve the aforementioned problems has the advantage that large deformations and exact cross-sectional deformations in a rod could be captured exactly by modeling the rod just in one dimension without the problem of distortion of elements or element locking which would have had some effect if the problem were to be solved using mesh based methods. Polynomial reproducing methods have been applied to problems in fracture mechanics to study the propagation of crack in a structure. As it is often desirable to limit the use of the polynomial reproducing methods to some parts of the domain where their unique advantages such as fast convergence, good accuracy, smooth derivatives, and trivial adaptivity are beneficial, a coupling procedure has been adopted with the objective of using the advantages of both FEM and polynomial reproducing methods. Exploration of SMW (Sherman-Morrison-Woodbury) in the context of polynomial reproducing methods has been done which would assist in calculating the inverse of a perturbed matrix (stiffness matrix in our case). This would to a great extent reduce the cost of computation. In this thesis, as a first step attempts have been made to apply Mesh free cosserat theory to one dimensional problems. The idea was to bring out the advantages and limitations of mesh free cosserat theory and then extend it to 2D problems.
APA, Harvard, Vancouver, ISO, and other styles
3

Rajathachal, Karthik M. "Application Of Polynomial Reproducing Schemes To Nonlinear Mechanics." Thesis, 2009. http://hdl.handle.net/2005/1093.

Full text
Abstract:
The application of polynomial reproducing methods has been explored in the context of linear and non linear problems. Of specific interest is the application of a recently developed reproducing scheme, referred to as the error reproducing kernel method (ERKM), which uses non-uniform rational B-splines (NURBS) to construct the basis functions, an aspect that potentially helps bring in locall support, convex approximation and variation diminishing properties in the functional approximation. Polynomial reproducing methods have been applied to solve problems coming under the class of a simplified theory called Cosserat theory. Structures such as a rod which have special geometric properties can be modeled with the aid of such simplified theories. It has been observed that the application of mesh-free methods to solve the aforementioned problems has the advantage that large deformations and exact cross-sectional deformations in a rod could be captured exactly by modeling the rod just in one dimension without the problem of distortion of elements or element locking which would have had some effect if the problem were to be solved using mesh based methods. Polynomial reproducing methods have been applied to problems in fracture mechanics to study the propagation of crack in a structure. As it is often desirable to limit the use of the polynomial reproducing methods to some parts of the domain where their unique advantages such as fast convergence, good accuracy, smooth derivatives, and trivial adaptivity are beneficial, a coupling procedure has been adopted with the objective of using the advantages of both FEM and polynomial reproducing methods. Exploration of SMW (Sherman-Morrison-Woodbury) in the context of polynomial reproducing methods has been done which would assist in calculating the inverse of a perturbed matrix (stiffness matrix in our case). This would to a great extent reduce the cost of computation. In this thesis, as a first step attempts have been made to apply Mesh free cosserat theory to one dimensional problems. The idea was to bring out the advantages and limitations of mesh free cosserat theory and then extend it to 2D problems.
APA, Harvard, Vancouver, ISO, and other styles

Book chapters on the topic "Cosserat rod-theory"

1

Bhattu, Arati Ajay, and Salil Kulkarni. "Dynamics of Tendon Actuated Continuum Robots by Cosserat Rod Theory." In ROMANSY 23 - Robot Design, Dynamics and Control. Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-58380-4_50.

Full text
APA, Harvard, Vancouver, ISO, and other styles
2

Rodrigues, Vinayvivian, Bingbin Yu, Christoph Stoeffler, and Shivesh Kumar. "Kinetostatic Analysis for 6RUS Parallel Continuum Robot Using Cosserat Rod Theory." In Advances in Robot Kinematics 2024. Springer Nature Switzerland, 2024. http://dx.doi.org/10.1007/978-3-031-64057-5_49.

Full text
APA, Harvard, Vancouver, ISO, and other styles
3

Punak Sukitti and Kurenov Sergei. "Simplified Cosserat Rod for Interactive Suture Modeling." In Studies in Health Technology and Informatics. IOS Press, 2011. https://doi.org/10.3233/978-1-60750-706-2-466.

Full text
Abstract:
This paper presents a real-time simulation of a virtual surgical suture, which is a physically-based model adapted from the Cosserat theory of elastic rods. The focus is on achieving a physically plausible simulation of the suture that can be simulated in real time. With simulation parameters adjustment, the virtual surgical suture can be accustomed to exhibit bending and twisting similar to a real suture. It is simple to implement and easy to extend for collision detections and interactions with other virtual objects. Its simulation is similar to a simulation of a composition of two mass-spring chains – for positions and orientations. Test results show that the virtual surgical suture can be used to tie knots in real time.
APA, Harvard, Vancouver, ISO, and other styles

Conference papers on the topic "Cosserat rod-theory"

1

Bensch, Martin, Tim-David Job, Tim-Lukas Habich, Thomas Seel, and Moritz Schappler. "Physics-Informed Neural Networks for Continuum Robots: Towards Fast Approximation of Static Cosserat Rod Theory." In 2024 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2024. http://dx.doi.org/10.1109/icra57147.2024.10610742.

Full text
APA, Harvard, Vancouver, ISO, and other styles
2

Luo, Albert C. J. "On an Approximate Theory for Nonlinear Dynamics of Rods." In ASME 2009 International Mechanical Engineering Congress and Exposition. ASMEDC, 2009. http://dx.doi.org/10.1115/imece2009-11467.

Full text
Abstract:
In this paper, a nonlinear theory for a straight rod is presented in the Cartesian coordinate frame. The traditional treatises of nonlinear rods were based on the Cosserat’s theory (e.g., E. and F. Cosserat, 1896) or the Kirchhoff assumptions (e.g., Kirchhoff, 1859; Love, 1944). This paper extends the ideas of Galerkin (1915), and the nonlinear theory of rods is developed from the general theory of the 3-dimennsional deformable-body.
APA, Harvard, Vancouver, ISO, and other styles
3

Ma, Ceyi, Yinghong Wen, Dan Zhang, Jianjun Xiao, and Wangqun Sheng. "Crosstalk Prediction of Cables Based on Cosserat Elastic Rod Theory." In 2019 28th Wireless and Optical Communications Conference (WOCC). IEEE, 2019. http://dx.doi.org/10.1109/wocc.2019.8770610.

Full text
APA, Harvard, Vancouver, ISO, and other styles
4

Ryu, Hwan-Taek, Long Kang, and Byung-Ju Yi. "Application of Cosserat Rod Theory to Configuration Estimation of Coionoscope." In 2018 15th International Conference on Ubiquitous Robots (UR). IEEE, 2018. http://dx.doi.org/10.1109/urai.2018.8441805.

Full text
APA, Harvard, Vancouver, ISO, and other styles
5

Alamo, Fredy Coral, and Hans Ingo Weber. "Dynamics of Beams Using a Geometrically Exact Elastic Rod Approach." In ASME 8th Biennial Conference on Engineering Systems Design and Analysis. ASMEDC, 2006. http://dx.doi.org/10.1115/esda2006-95158.

Full text
Abstract:
The dynamics of a long slender beam, intrinsically straight, is addressed systematically for 3-D problems using the Cosserat rod theory. The model developed allows for bending, extension/compression and torsion, thus enabling the study of the dynamics of various types of elastic deformations. In this work a linear constitutive relation is used, also, the Bernoulli hypothesis is considered and the shear deformations are neglected. The fundamental problem when using any finite element (FE) formulation is the choice of the displacement functions. When using Cosserat rod theory this problem is handled using approximate solutions of the nonlinear equations of motion (in quasi-static sense). These nonlinear displacement functions are functions of generic nodal displacements and rotations. Based on the Lagrangian approach formed by the kinetic and strain energy expressions, the principle of virtual work is used to derive the nonlinear ordinary differential equations of motion that are solved numerically. As an application, a curved rod, formed by many straight elements is investigated numerically. When using the Cosserat rod approach, that take into account all the geometric nonlinearities in the rod, the higher accuracy of the dynamic responses is achieved by dividing the system into a few elements which is much less than the traditional FE methods, this is the main advantage when using this approach. Overall, the Cosserat model provides an accurate way of modelling long slender beams and simulation times are greatly reduced through this approach.
APA, Harvard, Vancouver, ISO, and other styles
6

Xu, Lisong, Chenhai Long, Guoliang Ma, and Jian Guo. "Control-Oriented Modeling of Multi-Segment Continuum Robot Based on Cosserat Rod Theory." In ICCIR 2022: 2022 2nd International Conference on Control and Intelligent Robot. ACM, 2022. http://dx.doi.org/10.1145/3548608.3559174.

Full text
APA, Harvard, Vancouver, ISO, and other styles
7

Grube, M., and R. Seifried. "Simulation of soft robots with nonlinear material behavior using the cosserat rod theory." In 8th European Congress on Computational Methods in Applied Sciences and Engineering. CIMNE, 2022. http://dx.doi.org/10.23967/eccomas.2022.252.

Full text
APA, Harvard, Vancouver, ISO, and other styles
8

Saberi, Alireza, Hamed Ghafarirad, Afshin Taghvaeipour, and Sadegh Pourghasemi Hanza. "Coupled Transverse-Longitudinal Deformation Analysis of Soft Bending Actuators Using Cosserat Rod Theory." In 2023 11th RSI International Conference on Robotics and Mechatronics (ICRoM). IEEE, 2023. http://dx.doi.org/10.1109/icrom60803.2023.10412542.

Full text
APA, Harvard, Vancouver, ISO, and other styles
9

O’Reilly, Oliver M., and Major Jeffrey S. Turcotte. "On the Free Vibrations of a Whirling Rod." In ASME 1997 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1997. http://dx.doi.org/10.1115/detc97/vib-4072.

Full text
Abstract:
Abstract In this work, the problem of a whirling rod is examined. The governing equations for the steady motion of the rod and small amplitude vibrations superposed on the steady motion are formulated and discussed. This formulation uses the theory of a directed or Cosserat rod which was developed by A. E. Green, P. M. Naghdi and several of their co-workers. The present work also involves extensions to recent work by O’Reilly on properly invariant approximate theories.
APA, Harvard, Vancouver, ISO, and other styles
10

Wang, Xiaocheng, Changliang Wang, Xueqian Wang, Deshan Meng, Bin Liang, and Hejie Xu. "Dynamics Modeling and Verification of Parallel Extensible Soft Robot Based on Cosserat Rod Theory." In 2022 IEEE 18th International Conference on Automation Science and Engineering (CASE). IEEE, 2022. http://dx.doi.org/10.1109/case49997.2022.9926558.

Full text
APA, Harvard, Vancouver, ISO, and other styles
You might also be interested in the extended bibliographies on the topic 'Cosserat rod-theory' for particular source types:
Journal articles
We offer discounts on all premium plans for authors whose works are included in thematic literature selections. Contact us to get a unique promo code!

To the bibliography