Research On Collision Dynamics Of Flexible Beam-beam Considering Contact Area

In the background of the manipulation soft robots,a large-area collision problem of between flexible beams appears.This type of contact problem no longer conforms to the assumption of rigid cross-section and the assumption of the single point contact area or curve contact area in the existing flexible beam collision model.In this paper,based on the absolute node coordinate method,combined with the penalty function method and the minimum distance criterion,a surface-to-surface contact dynamic model for flexible beams is established to solve the large-area collision problem between flexible beams.At first,the high-order beam element of the Absolute Node Coordinate Formulation is used to model the flexible beam,which releases the assumption of the rigid cross-section;The element mass matrix,linear elastic stiffness matrix,and hyper-elastic stiffness matrix and generalized external force of the high-order beam are derived,and an example is given to verify the high-order beam element's ability to capture the warping deformation of the section and the hyper-elastic constitutive of the flexible beam.Secondly,based on beam surface,the minimum distance criterion and the detection algorithm are proposed,which releases the single point or curve assumption of the contact area;the surface-to-surface contact model of the flexible beam-beam is established by combining the penalty function method.Finally,based on the Hunt-Crossley contact force model,a surface-to-surface collision dynamics model between flexible beams was established;this dynamic model was used to simulate the covering behavior of the flexible manipulator,and was verified by comparison with the results of ABAQUS.The accuracy of this model in dealing with the problem of large-area contact collision of flexible beams.