High fidelity simulation of corotational linear FEM for incompressible materials
High fidelity simulation of incompressible materials using corotational linear FEM
Authors
Mihai Francu, Arni Asgeirsson, and Kenny Erleben
Abstract
We present a novel method of simulating incompressible materials undergoing large deformation without locking artifacts. We apply it for simulating silicone soft robots with a Poisson ratio close to 0.5. The new approach is based on the mixed finite element method (FEM) using a pressure-displacement formulation; the deviatoric deformation is still handled in a traditional fashion. We support large deformations without volume increase using the corotational formulation of linear elasticity. Stability is ensured by an implicit integration scheme which always reduces to a sparse linear system. For even more deformation accuracy we support higher-order simulation through the use of Bernstein-Bézier polynomials.
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