Regularization of 2D Frictional Contacts for Rigid Body Dynamics

2007 ◽  
pp. 291-300 ◽  
Author(s):  
Wolfgang Stamm ◽  
Alexander Fidlin
Keyword(s):  
Rigid Body ◽  
Rigid Body Dynamics ◽  
Frictional Contacts ◽  
Body Dynamics

scholarly journals Simulation of Mechanical Systems With Multiple Frictional Contacts

1992 ◽  
Author(s):  
Yin-Tien Wang ◽  
Vijay Kumar
Keyword(s):  
Energy Conservation ◽  
Rigid Body ◽  
Mechanical Systems ◽  
Rigid Body Dynamics ◽  
New Approach ◽  
Frictional Contacts ◽  
Rigid Objects ◽  
Coulomb’S Law ◽  
Body Dynamics ◽  
Coulomb's Law

Abstract There are several applications in robotics and manufacturing in which nominally rigid objects are subject to multiple frictional contacts with other objects. In most previous work, rigid body models have been used to analyze such systems. There are two fundamental problems with such an approach. Firstly, the use of frictional laws, such as Coulomb’s law, introduce inconsistencies and ambiguities when used in conjunction with the principles of rigid body dynamics. Secondly, hypotheses traditionally used to model frictional impacts can lead to solutions which violate principles of energy conservation. In this paper these problems are explained with the help of examples. A new approach to the simulation of mechanical systems with multiple, frictional constraints is proposed which is free of such difficulties.

scholarly journals Simulation of Mechanical Systems With Multiple Frictional Contacts

1994 ◽  
Vol 116 (2) ◽  
pp. 571-580 ◽  
Author(s):  
Yin-Tien Wang ◽  
V. Kumar
Keyword(s):  
Energy Conservation ◽  
Rigid Body ◽  
Mechanical Systems ◽  
Rigid Body Dynamics ◽  
Engineering Applications ◽  
New Approach ◽  
Frictional Contacts ◽  
Rigid Objects ◽  
Body Dynamics ◽  
Coulomb's Law

There are several engineering applications in which nominally rigid objects are subject to multiple frictional contacts with other objects. In most previous work, rigid body models have been used to analyze such systems. There are two fundamental problems with such an approach. First, the use of frictional laws, such as Coulomb’s law, introduces inconsistencies and ambiguities when used in conjunction with the principles of rigid body dynamics. Second, hypotheses traditionally used to model frictional impacts can lead to solutions which violate principles of energy conservation. In this paper these problems are explained with the help of examples. A new approach to the simulation of mechanical systems with multiple, frictional constraints is proposed that is free of inconsistencies.

scholarly journals Regularization of 2D frictional contacts for rigid body dynamics

PAMM ◽  
2006 ◽  
Vol 6 (1) ◽  
pp. 111-112 ◽  
Author(s):  
W. Stamm ◽  
A. Fidlin
Keyword(s):  
Rigid Body ◽  
Rigid Body Dynamics ◽  
Frictional Contacts ◽  
Body Dynamics

scholarly journals Slipping–rolling transitions of a body with two contact points

2021 ◽  
Author(s):  
Mate Antali ◽  
Gabor Stepan
Keyword(s):  
Rigid Body ◽  
Contact Point ◽  
Static Friction ◽  
Rigid Body Dynamics ◽  
Contact Forces ◽  
Friction Forces ◽  
Contact Points ◽  
Body Dynamics ◽  
Coulomb Model ◽  
Rigid Surfaces

AbstractIn this paper, the general kinematics and dynamics of a rigid body is analysed, which is in contact with two rigid surfaces in the presence of dry friction. Due to the rolling or slipping state at each contact point, four kinematic scenarios occur. In the two-point rolling case, the contact forces are undetermined; consequently, the condition of the static friction forces cannot be checked from the Coulomb model to decide whether two-point rolling is possible. However, this issue can be resolved within the scope of rigid body dynamics by analysing the nonsmooth vector field of the system at the possible transitions between slipping and rolling. Based on the concept of limit directions of codimension-2 discontinuities, a method is presented to determine the conditions when the two-point rolling is realizable without slipping.

New solutions of classical problems in rigid body dynamics

2015 ◽  
Vol 69 ◽  
pp. 40-44
Author(s):  
H.M. Yehia ◽  
E. Saleh ◽  
S.F. Megahid
Keyword(s):  
Rigid Body ◽  
Rigid Body Dynamics ◽  
Body Dynamics

scholarly journals In Silico Single-Molecule Manipulation of DNA with Rigid Body Dynamics

2014 ◽  
Vol 10 (2) ◽  
pp. e1003456 ◽  
Author(s):  
Pascal Carrivain ◽  
Maria Barbi ◽  
Jean-Marc Victor
Keyword(s):  
Rigid Body ◽  
Single Molecule ◽  
In Silico ◽  
Rigid Body Dynamics ◽  
Body Dynamics ◽  
Single Molecule Manipulation

On so‐called singular constraints in rigid‐body dynamics

1986 ◽  
Vol 54 (7) ◽  
pp. 585-586
Author(s):  
Stephen F. Felszeghy
Keyword(s):  
Rigid Body ◽  
Rigid Body Dynamics ◽  
Body Dynamics
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