Nonlinear Compliant Modes for Large-Deformation Analysis of Flexible Structures - Supplementary

Supplemental video for the ACM TOG paper
“Nonlinear Compliant Modes for Large-Deformation Analysis of Flexible Structures” by Simon Duenser, Bernhard Thomaszewski, Roi Poranne, Stelian Coros
ACM Transactions on Graphics (TOG)
Abstract:
Many flexible structures are characterized by a small number of compliant modes, i.e., large-deformation paths that can be traversed with little mechanical effort, whereas resistance to other deformations is much stiffer. Predicting the compliant modes for a given flexible structure, however, is challenging. While linear eigenmodes capture the small-deformation behavior, they quickly divert into states of unrealistically high energy for larger displacements. Moreover, they are inherently unable to predict nonlinear phenomena such as buckling, stiffening, multistability, and contact. To address this limitation, we propose Nonlinear Compliant Modes-a physically principled extension of linear eigenmodes for large-deformation analysis. Instead of constraining the entire structure to deform along a given eigenmode, our method only prescribes the projection of the system’s state onto the linear mode while all other degrees of freedom follow through energy minimization. We evaluate the potential of our method on a diverse set of flexible structures, ranging from compliant mechanisms to topology-optimized joints and structured materials. As validated through experiments on physical prototypes, our method correctly predicts a broad range of nonlinear effects that linear eigenanalysis fails to capture.
Paper Link:
dl.acm.org/doi...
Computational Robotics Lab:
crl.ethz.ch/
/ computationalr2
Stelian Coros:
crl.ethz.ch/cor...