Computing Von Mises constraints along rods

[Benjamin]

Hello everyone,

I am currently working on a continuum parallel robot composed of 3 kinematic chain. Each of them is composed of 2 flexible elements that link the actuation system (2 linear actuators whose axes are perpendicular) to a rigid platform. More information can be found in this github repo (article, video showing the movement, forward and inverse modeling using SOFA):

https://github.com/Xemnos/3PP2F_study

The files that I am currently using are in the previous link. There are the forward and inverse modeling used to move the robot. My question is the following: how can I get the Von Mises constraints inside all the beams of the structure?

Best regards,
Benjamin

[Hugo]

Hey @benjamin

You seem to be using the BeamAdapter which is a private plugin for now.
It is therefore that we do not know very well yet.

I shortly looked into the code no VonMises stress is implemented. It could be interesting to implement it.
Are you using binary version of BeamAdapter or source one?

Best,

Hugo

[Benjamin]

Hey Hugo,

Okay, I am using a lot the BeamAdapter plugin with its different options.

Yes, I agree with you that it could be interesting to implement it. I can try to implement it if you want.
I am using the binary version of BeamAdapter (a precompiled version of SOFA 19.06.99 that you gave me during a GDR day on soft robots in winter 2019).

Best,

Benjamin

[Hugo]

Hey @benjamin

it would be a huge plus for the code definitely!
For contributing you will have to get the sources of the BeamAdapter plugin. Do you have access to it?

Best

Hugo

[Benjamin]

Hey @Hugo,

No I don’t have access to it. Can you give it to me or should I ask M.Duriez for it ?

Best
Benjamin

[Hugo]

Ola @benjamin !

Great news, it should very soon be released in open-source (in the sofa-framework GitHub account).
It will therefore be out, stay tuned!

Best

Hugo

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