This python package performs overdamped dynamics of articulated rigid bodies suspended in a viscous fluid with an ambient linear velocity field. Hydrodynamic interaction between the bodies is not incorporated, however there is anisotropic hydrodynamic drag on each body.
- Articulated multibody systems are constructed as a directed graph (cyclic or acyclic) of rigid bodies, each with a center-of-mass position and orientation.
- Various join models specify the degrees of freedom of each rigid body.
- The rigid bodies are subject to hydrodynamic drag from the ambient fluid.
- Kane's equation of motion are solved for the degrees of freedom to evolve the whole system in time.
- For more details on how the joint models work or how constraints are handled see Dutta and Graham (2017).
API docs are available here.
This code was used to model dynamics of rigidly foldable origami sheets in linear viscous flows in Dutta & Graham, Dynamics of Miura-patterned foldable sheets in shear flow, Soft Matter, 2017, 13, 2620