The stick-slip bending behavior of the multilevel helical structures: A 3D thin rod model with frictional contact

The multilevel helical structures in various engineering and natural fields offer excellent deformation flexibility and load bearing capabilities. Understanding the interplay between the local frictional contact and the geometric characteristics of the helical structure under complex external loads has attracted considerable interest. In this work, the effect of local frictional contact behaviors on the bending in multilevel helical structures is investigated by using a combination of theoretical modeling, finite element (FE) simulations, and experiments. In the case of pure bending, the kinematic parameters of the bent multi-stage helix are derived concisely by the idea of the kinematic analogy. The bending stiffness of the multi-stage helix is further obtained. In the case of the combined tension/torsion and bending, the 3D thin rod model incorporating Coulomb’s friction is established to describe the mechanical responses. It is found that the relationship between equivalent bending stiffness and the laying angle exhibits nonlinearity. A comparison with the classical Papailiou model reveals that, for helical structures at large laying angles, the influence of friction is primarily determined by the internal force in the tangential direction, which is the core assumption of the Papailiou model. However, in the case of small laying angles, the helical twisting characteristics and the contribution of the internal forces and moments in the other two directions (normal and binormal directions) to the friction cannot be ignored. Subsequently, a multilevel frictional contact transmission formulation is proposed according to the force action–reaction principle. Based on the above formulation, the non-simplified thin rod equations with Coulomb’s friction are extended to describe the multilevel stick-slip bending behaviors of the second stage cable (3*3). The dissipation capacity of helical structures is evaluated quantitatively under the hysteretic bending. Finally, the theoretical model is verified by FE simulations and experimental results. This work provides insights for unveiling the intrinsic relationship between the nonlinear bending and local frictional contact behaviors in the multilevel helical structures.