Discrete Simulation of Slender Structures and Soft Robots

You may use the following links to download/view all the materials in one go:

Course Notes [.pdf file] [Codes; email for password]

Videos [YouTube playlist]

Slides accompanying the videos [.pdf file]

Module 1: Slender Structures

Download Slides

Module 2: Soft Robots

Download Slides

Module 3: Newton’s Method - Single Variable

Download Slides

Module 4: Newton’s Method - Multiple Variables

Download Slides

Module 5: Single Mass-Spring-Damper System

Download Slides

Module 6: Explicit vs. Implicit Method

Download Slides

Module 7: Multiple Mass-Spring-Damper System

Download Slides

Module 8: Conservative Force and Potential Energy - Single DOF

Download Slides

Module 9: Conservative Force and Potential Energy - Multiple DOFs

Download Slides

Module 10: Conservative Force and Potential Energy - General Formulation

Download Slides

Module 11: Example Problem - Springs in Viscous Flow

Download Slides

Module 12: Example Problem - Elastic Beam in Viscous Flow

Download Slides

Module 13: Fixed and Free Degrees of Freedom

Download Slides

Module 14: Starter on Beam Bending

Download Slides

Module 15: Discrete Elastic Energies of a Beam

Download Slides

Module 16: Discrete Elastic Beams

Download Slides

Module 17: Networks of Beams

Download Slides

Module 18: Discrete Representation of Twist in a Rod

Download Slides

Module 19: Space-Parallel Reference Frame

Download Slides

Module 20: Time-Parallel Reference Frame

Download Slides

Module 21: Discrete Elastic Rods

Download Slides

Module 22: Gradient and Hessian of Elastic Energies in Discrete Elastic Rods

Download Slides

Module 23: Discrete Elastic Plates

Download Slides

Module 24: Gradient and Hessian of Elastic Energies in Discrete Elastic Plates

Download Slides

Module 25: Discrete Elastic Shells

Download Slides