difference "CosseratBase", "cosseratObject" and "nonLinearCosserat"

[wj9991]

Hi, what exactly is the difference between "CosseratBase", "cosseratObject" and "nonLinearCosserat"? There are several examples in the actuatorBranch that import from the three Python files, but I can't explain the difference yet.

[hugtalbot]

Hi @wj9991
I think @adagolodjo would be the one able to answer best

[adagolodjo]

Hello @wj9991,

The Python class "CosseratBase" represents a cleaner version of "cosseratObject." It also utilizes the Python "dataClass" class to streamline the visible parameters in the function. If the "cosseratObject" class is still present, it's due to existing examples that rely on it, and I haven't had the chance to update them yet. Rest assured, it will be removed before the branch is merged into the master branch.

The "nonLinearCosserat" class introduces a non-linear formulation of the state parameter (strain) along each sub-segment composing the beam. This is in contrast to the default formulation, which assumes constant curvature along each subsection. Currently, I don't have an example demonstrating the difference in results between these two formulations in quasi-static simulation.

Appreciate the tag, @hugtalbot. 🙌🏿

Best regards.

[wj9991]

Thank you for your quick reply. This helps a lot.