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Pasquale94.
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6 October 2021 at 15:14 #20523
Pasquale94
BlockedHello everyone,
In these days i am trying a multimaterial simulation of soft robotic finger. Actually the soft robotic finger is formed by a cilinder of hyperelastic material and a reinforcement that is linear elastic.
For now i tried in this way:
Merged the mesh with the Sofa partitioning Tool of . Then in the python script i select the vertex of all the tetrahedra belonging to the reinforcement, and create a subtopology with that, changing the constitutive law (a linear elastic reinforcement and the internal cilinder hyperelastic).
The code seems to work because it really introduce an asimmetry in the deformation, but this asymmetry is not in the plane that i expected. In fact the finger bends in the Z-X plane, while i aspect a bending on Z-Y plane.(see in photo)My scene is like this :
# to be able to add sofa objects you need to first load the plugins that implement them. # For simplicity you can load the plugin "SofaComponentAll" that will load all most # common sofa objects. import SofaRuntime SofaRuntime.importPlugin("SofaComponentAll") # to add elements like Node or objects import Sofa.Core root = Sofa.Core.Node() import math import numpy as np import os path = os.path.dirname(os.path.abspath(__file__))+'/plot/' class FingerController(Sofa.Core.Controller): def __init__(self, *args, **kwargs): Sofa.Core.Controller.__init__(self,*args, **kwargs) #needed self.node = kwargs['node'] self.minimum = 0 self.max = 0 self.posmin = 0 self.posmax = 0 self.Positions = kwargs['position'] for i in range(0, len(self.Positions)): if self.Positions[i][2] <= self.max : self.max = self.Positions[i][2] self.posmax = i for j in range(0, len(self.Positions)): if self.Positions[j][2] >= self.minimum: self.minimum = self.Positions[j][2] self.posmin = j self.pressureValue = kwargs['pressure'] self.coeff = (self.Positions[self.posmin][2]-self.Positions[self.posmax][2])/(self.Positions[self.posmin][1]-self.Positions[self.posmax][1]) self.angle = (math.atan(self.coeff))*180/math.pi-80.86 print(str(self.angle) +' ' + str(self.posmax)+ ' ' + str(self.posmin) + '\n') self.tetra = kwargs['tetrahedra'] self.tetra_reinf = [] my_file = open("indicesmesh2.txt", "r") content = my_file.readlines() for i in range(0, len(content)): content[i] = int(content[i]) pos = content[i] file1 = open("/home/pasquale/Script_Sofa/Antonio_hydrogel/tetra.txt","a") file1.write(str(self.tetra[pos])+ ' ' ) file1.close() def onAnimateBeginEvent(self,event): ##Inflating the finger self.time = self.node.time.value pressure = self.pressureValue.value[0] + 5 if pressure > 40: pressure = 40 self.pressureValue.value[0] = pressure coeff = (self.Positions[self.posmax][2]-self.Positions[self.posmin][2])/(self.Positions[self.posmax][1]-self.Positions[self.posmin][1]) angle = (math.atan(coeff))*(180/math.pi)-80.86 print(angle) def createScene(rootNode): rootNode.addObject('RequiredPlugin', pluginName='SoftRobots SofaOpenglVisual SofaSparseSolver SofaPreconditioner SofaMiscCollision ') rootNode.addObject('VisualStyle', displayFlags='hideVisualModels showBehaviorModels hideCollisionModels hideBoundingCollisionModels hideForceFields hideInteractionForceFields hideWireframe') rootNode.addObject('RequiredPlugin', name='SoftRobots') rootNode.addObject('RequiredPlugin', name='SofaPython3') rootNode.addObject('RequiredPlugin', name='SofaSparseSolver') rootNode.gravity=[ 0, 0, 9810] rootNode.dt = 0.001 rootNode.name = 'rootNode' rootNode.addObject('FreeMotionAnimationLoop') rootNode.addObject('GenericConstraintSolver', tolerance=1e-12, maxIterations=10000) rootNode.addObject('DefaultPipeline') rootNode.addObject('BruteForceDetection') rootNode.addObject('DefaultContactManager', response='FrictionContact', responseParams='mu=0.6') rootNode.addObject('LocalMinDistance', name='Proximity', alarmDistance=5, contactDistance=1, angleCone=0.0) rootNode.addObject('BackgroundSetting', color=[0, 0.168627, 0.211765]) rootNode.addObject('OglSceneFrame', style='Arrows', alignment='TopRight') finger = rootNode.addChild('finger') finger.addObject('EulerImplicitSolver', name='odesolver', rayleighStiffness=0.1, rayleighMass=0.1) finger.addObject('SparseLDLSolver', name='directSolver') finger.addObject('MeshVTKLoader', name='loader', filename='design/out_1.vtu',) tetras = finger.addObject('MechanicalObject', name='tetras', template='Vec3d', src = '@loader') finger.addObject('TetrahedronSetTopologyContainer', name="topo", src ='@loader') finger.addObject('TetrahedronSetTopologyModifier' , name="Modifier") #.addObject('TetrahedronSetTopologyAlgorithms', name="TopoAlgo", template="Vec3d") finger.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3d" ,name="GeomAlgo", drawTriangles="1") finger.addObject('MeshMatrixMass', massDensity='0.9155e-6', src = '@topo') #finger.addObject('UniformMass', totalMass='0.030', src = '@topo') #mu1 = 77.02983133 mu1 = 2*109 #alpha = 2.43174896 #alpha = 1 #k0 = 1/2.68592762e-3 k0 = 1/1.150e-2 finger.addObject('TetrahedronHyperelasticityFEMForceField', template='Vec3d', name='FEM', src ='@topo', ParameterSet=str(mu1)+' '+str(k0),materialName="NeoHookean") finger.addObject('BoxROI', name='boxROI', box=[-12, -10, 105.5, 30,30, 120.5], drawBoxes=True) finger.addObject('RestShapeSpringsForceField', points='@boxROI.indices', stiffness=1e12, angularStiffness=1e12) finger.addObject('LinearSolverConstraintCorrection', solverName='directSolver') modelSubTopo = finger.addChild('modelSubTopo') modelSubTopo.addObject('MeshTopology',position = '@loader.position', tetrahedra= '2036 3851 1058 7735' + '\n' + '1422 1420 1421 5599' + '\n' + '5562 2370 5724 899' + '\n' + ' 98 5535 5711 8018' + '\n' + '7985 8118 8066 1395' + '\n' + '6452 1598 4213 3413' + '\n' + '3748 1651 5687 2123' + '\n' 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+ '\n' + ' 881 4700 2982 8164' + '\n' + '2503 2066 4769 7890' + '\n' + '3148 7892 3147 6095' + '\n' + '3148 623 7892 6095' + '\n' + '3148 7892 620 6005' + '\n' + '3206 5112 5111 403' + '\n' + '3206 1659 5318 403' + '\n' + '1507 1504 2545 6304' + '\n' + ' 103 1437 4547 5243' + '\n' + '5142 5138 1469 7893' + '\n' + '7245 1780 7895 1796' + '\n' + ' 389 133 1682 1470' + '\n' + '1051 4879 4479 1470' + '\n' + '2832 377 4479 1470' + '\n' + '2217 3081 1487 1673' + '\n' + '3081 3144 236 1673' + '\n' + '3144 3145 236 1673' + '\n' + '2022 3234 3233 5435' + '\n' + '3233 3234 1704 5435' + '\n' + '7365 4488 5259 8073' + '\n' + '4361 4362 7898 3834' + '\n' + '4361 7898 6016 3834' + '\n' + '7898 6016 7427 4361' + '\n' + '4362 7898 7427 4361' + '\n' + '1561 3218 8125 2957' + '\n' + '3139 6194 4463 8015' + '\n' + '6791 4371 2744 3945' + '\n' + '2937 4257 5045 6657' + '\n' + '3944 2000 3942 6526' + '\n' + '3926 5518 3921 1086' + '\n' + '4077 7903 2934 5418' + '\n' + '3575 3576 1277 7904' + '\n' + '2777 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'1571 7353 8136 7981' + '\n' + ' 370 3940 5816 3079' + '\n' + '8193 2292 7214 3758' + '\n' + ' 78 5123 3760 6775' + '\n' + '2926 7264 4808 114' + '\n' + '8016 8152 8067 7936' + '\n' + '5719 207 6613 7967' + '\n' + ' 933 902 8215 1128' + '\n' + '4164 2397 6322 8082' + '\n' + '1315 7205 8053 5698' + '\n' + '7993 1979 844 4728' + '\n' + '6547 8152 6546 1733' + '\n' + '1942 8229 8054 4970' + '\n' + '2957 1620 3218 4178' + '\n' + ' 869 8104 410 1462' + '\n' + '4128 948 953 8044' + '\n' + '5945 4203 1870 6498' + '\n' + '1247 1327 8041 6885' + '\n' + '2882 7741 2883 7756' + '\n' + '6110 6809 6588 8021' + '\n' + '4439 4313 5154 4948' + '\n' + '4203 5945 8019 6498' + '\n' + '4711 115 3224 5042' + '\n' + ' 705 708 3054 8226' + '\n' + '1874 4635 1885 8117' + '\n' + '5654 2516 8011 5977' + '\n' + '8044 8218 513 536' + '\n' + '8054 8193 7977 8225' + '\n' + '4028 4026 6174 6021' + '\n' + ' 584 674 673 8140' + '\n' + ' 626 1969 3081 761' + '\n' + '6569 6570 1509 6633' + '\n' + '4706 3208 4707 8179' + '\n' + '6667 1205 8047 7309' + '\n' + '8206 3951 911 4752' + '\n' + '7136 7933 3411 601' + '\n' + '5020 5021 5954 8121' + '\n' + '8207 8094 2823 8228' + '\n' + '2830 395 2421 8045' + '\n' + '7974 947 3260 940' + '\n' + '4812 8117 4818 4813' + '\n' + '3825 3819 7384 3058' + '\n' + '6074 7900 8151 1518' + '\n' + '8180 8107 23 5845' + '\n' + '7167 3365 783 973' + '\n' + ' 731 5077 5011 8090' + '\n' + '6264 5983 8138 5986' + '\n' + '1700 36 8122 1714' + '\n' + '6975 1839 1555 8004' + '\n' + '8110 2246 3938 8114' + '\n' + '3826 3075 422 5686' + '\n' + '7859 5823 3166 8221' + '\n' + '8082 3660 8075 2401' + '\n' + '8169 504 7415 505' + '\n' + '3152 5377 3153 8191' + '\n' + '3758 3757 8193 5181' + '\n' + '8154 7784 3006 6891' + '\n' + '7380 2241 8102 8140' + '\n' + ' 8 2767 7464 5126' + '\n' + '4279 2516 4278 5977' + '\n' + '8012 4415 8084 741' + '\n' + '2045 5925 319 1706' + '\n' + ' 881 4700 8164 8064', name = 'container') modelSubTopo.addObject('TetrahedronFEMForceField', template='Rigid3d',src = '@container', name='FEM', method = 'large', poissonRatio = 0.45, youngModulus = 45000) #modelSubTopo.addObject('BarycentricMapping') #modelSubTopo.addObject('TetrahedronHyperelasticityFEMForceField', template='Vec3d', name='FEM', ParameterSet=str(100*mu1)+' '+str(k0),materialName="NeoHookean") cavity = finger.addChild('cavity') cavity.addObject('MeshSTLLoader', name='cavityLoader', filename='design/Actuator_HydrogelCavity.stl') cavity.addObject('MeshTopology', src='@cavityLoader', name='cavityMesh') cavity.addObject('MechanicalObject', name='cavity') cavity.addObject('SurfacePressureConstraint', name='SurfacePressureConstraint', template='Vec3d', value= 0, triangles='@cavityMesh.triangles', valueType='pressure') cavity.addObject('BarycentricMapping', name='mapping', mapForces=False, mapMasses=False) cavity.addObject(FingerController(node=rootNode, position = rootNode.finger.tetras.position.value, tetrahedra = rootNode.finger.loader.tetrahedra.value, pressure = rootNode.finger.cavity.SurfacePressureConstraint)) return rootNode
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