近日，燕山大学姚建涛团队研究了层状干扰结构的连续体建模。2025年11月13日出版的《理论与应用力学快报》杂志发表了这项成果。

层干扰结构（LJS）是一类变刚度结构，在自适应和柔性机器人系统中具有重要的应用价值。然而，现有的LJS模型通常依赖于离散近似或针对特定配置进行定制，限制了它们的通用性和计算效率。

研究组提出了基于平均场技术的LJS连续弹塑性本构模型。该模型捕获了LJS的干扰（无层间滑动）和滑动状态，实现了屈服准则和耗散能量密度的解析表达式。在Abaqthem中结合周期边界条件进行了有限元仿真，验证了理论模型在单轴剪切、多向剪切和剪切-法向耦合加载等多种变形情况下的有效性。

结果表明，数值预测与理论预测非常吻合，有效地捕捉了刚度和能量演化的非线性转变。这个连续的框架提供了一个统一的、可扩展的工具来建模LJS的机械行为，并支持在软机器人和其他领域的刚度可调系统的设计和优化。

附：英文原文

Title: Continuum modeling for layer jamming structures

Author: Shuai Zhang, Jiantao Yao, Shizeng Li, Xinbo Chen

Issue&Volume: 2025-11-13

Abstract: HighlightLayer jamming structures (LJS) are a class of variable stiffness structures that are valuable for adaptive and soft robotic systems. However, existing models for LJS often rely on discrete approximations or are tailored to specific configurations, limiting their generalizability and computational efficiency. In this study, we propose a continuum elastoplastic constitutive model for LJS based on the average-field technique. The model captures both the jamming (no interlayer slipping) and slipping states of LJS, enabling analytical expressions for yield criteria, and dissipated energy density. Finite element simulations in Abaqus incorporating periodic boundary conditions were conducted to validate the theoretical model under various deformation scenarios, including uniaxial shear, multi-directional shear, and coupled shear-normal loading. The results demonstrate strong agreement between numerical and theoretical predictions, effectively capturing the nonlinear transitions in stiffness and energy evolution. This continuum framework offers a unified, scalable tool for modeling the mechanical behavior of LJS and supports the design and optimization of stiffness-tunable systems in soft robotics and beyond.

DOI: 10.1016/j.taml.2025.100633

Source: http://taml.cstam.org.cn/article/doi/10.1016/j.taml.2025.100633pageType=en