VI. The ESyS_Particle: A new 3-D discrete element model with single particle rotation

In this paper, the Discrete Element Model (DEM) is reviewed, and the ESyS_Particle, our new version of DEM, is introduced. We particularly highlight some of the major physical concerns about DEMs and major differences between our model and most current DEMs. In the new model, single particle rotation is introduced and represented by a unit quaternion. For each 3-D particle, six degrees of freedom are employed: three for translational motion, and three for orientation. Six kinds of relative motions are permitted between two neighboring particles, and six interactions are transferred, i.e., radial, two shearing forces, twisting and two bending torques. The relative rotation between two particles is decomposed into two sequence-independent rotations such that all interactions due to the relative motions between interactive rigid bodies can be uniquely determined. This algorithm can give more accurate results because physical principles are obeyed. A theoretical analysis about how to choose the model parameters is presented. Several numerical tests have been carried out, the results indicate that most laboratory tests can be well reproduced using our model.