Description
Generic linear elasticity for a Cosserat beam using directly a 6x6 matrix [E] as userinput data.
The [E] matrix values ("rigidity" values) can be computed from a preprocessing stage using a FEA analysis over a detailed 3D model of a chunk of beam, hence recovering the 6x6 matrix that connects yxz displacements "e" and xyz rotations "k" to the xyz cutforce "n" and xyz cuttorque "m" as in \( (m,n)=[E](e,k) \) where \( e, k, m, n \) are expressed in the centerline reference. Using a matrix of rigidity values, the model does not assume homogeneous elasticity and bypasses the need of entering E or G values. This can be shared between multiple beams.
#include <ChBeamSectionCosserat.h>
Public Member Functions  
ChMatrixNM< double, 6, 6 > &  Ematrix () 
Access the E matrix, for getting/setting its values. More...  
virtual void  ComputeStress (ChVector<> &stress_n, ChVector<> &stress_m, const ChVector<> &strain_e, const ChVector<> &strain_k) override 
Compute the generalized cut force and cut torque. More...  
virtual void  ComputeStiffnessMatrix (ChMatrixNM< double, 6, 6 > &K, const ChVector<> &strain_e, const ChVector<> &strain_k) override 
Compute the 6x6 tangent material stiffness matrix [Km] = dσ/dε. More...  
Additional Inherited Members  
Public Attributes inherited from chrono::fea::ChElasticityCosserat  
ChBeamSectionCosserat *  section 
Member Function Documentation
◆ ComputeStiffnessMatrix()

overridevirtual 
Compute the 6x6 tangent material stiffness matrix [Km] = dσ/dε.
 Parameters

K 6x6 stiffness matrix strain_e local strain (deformation part): x= elongation, y and z are shear strain_k local strain (curvature part), x= torsion, y and z are line curvatures
Reimplemented from chrono::fea::ChElasticityCosserat.
◆ ComputeStress()

overridevirtual 
Compute the generalized cut force and cut torque.
 Parameters

stress_n local stress (generalized force), x component = traction along beam stress_m local stress (generalized torque), x component = torsion torque along beam strain_e local strain (deformation part): x= elongation, y and z are shear strain_k local strain (curvature part), x= torsion, y and z are line curvatures
Implements chrono::fea::ChElasticityCosserat.
◆ Ematrix()

inline 
Access the E matrix, for getting/setting its values.
This is the matrix that defines the linear elastic constitutive model as it maps yxz displacements "e" and xyz rotations "k" to the xyz cutforce "n" and xyz cuttorque "m" as in \( (m,n)=[E](e,k) \)
The documentation for this class was generated from the following files:
 /builds/uwsbel/chrono/src/chrono/fea/ChBeamSectionCosserat.h
 /builds/uwsbel/chrono/src/chrono/fea/ChBeamSectionCosserat.cpp