Year: 2026
Type: article
Abstract: We present a Total Lagrangian finite element framework for finite-deformation multibody dynamics. The framework combines a compact kinematic representation, a deformation-gradient-based formulation, an element-agnostic constitutive interface, and a systematic constraint-construction machinery for coupling deformable bodies through engineering joints. Within this setting, we derive the equations of motion for collections of deformable bodies, and formulate their response in the presence of external loads, frictional contact forces, and constraint reaction forces. The framework accommodates field forces applied pointwise, over surfaces, or throughout volumes, and supports material models of practical interest, including Mooney–Rivlin, Neo-Hookean, and Kelvin–Voigt. A companion paper discusses the GPU-accelerated implementation of the framework outlined herein, and reports on numerical experiments and benchmark results.
Source: Engineering With Computers
Authors: Zhenhao Zhou, Ganesh Arivoli, Dan Negrut
Institution: University of Wisconsin–Madison
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: hybrid
Estimated APC paid: $2,190
Funder: National Science Foundation
OpenAlex ID: W7172293552