Energy-tracking impulse method for particle-discretized rigid-body simulations with frictional contact

2020 ◽  
Author(s):  
Yi Li ◽  
Mitsuteru Asai ◽  
Bodhinanda Chandra ◽  
Masaharu Isshiki
Keyword(s):  
Rigid Body ◽  
Frictional Contact ◽  
Impulse Method

Modeling and simulation of dynamics of a planar-motion rigid body with friction and surface contact

2017 ◽  
Vol 31 (16-19) ◽  
pp. 1744021 ◽  
Author(s):  
Xiaojun Wang ◽  
Jing Lv
Keyword(s):  
Rigid Body ◽  
Frictional Contact ◽  
Lagrange Equation ◽  
Linear Complementarity ◽  
Friction Model ◽  
Contact Forces ◽  
Planar Motion ◽  
Stick Slip ◽  
Normal Contact ◽  
Friction Law

The modeling and numerical method for the dynamics of a planar-motion rigid body with frictional contact between plane surfaces were presented based on the theory of contact mechanics and the algorithm of linear complementarity problem (LCP). The Coulomb’s dry friction model is adopted as the friction law, and the normal contact forces are expressed as functions of the local deformations and their speeds in contact bodies. The dynamic equations of the rigid body are obtained by the Lagrange equation. The transition problem of stick-slip motions between contact surfaces is formulated and solved as LCP through establishing the complementary conditions of the friction law. Finally, a numerical example is presented as an example to show the application.

Determining the Set of Active Constraints When a Rigid Body Compliantly Interacts With Multiple Frictional Contacts

2004 ◽  
Author(s):  
Shuguang Huang ◽  
Joseph M. Schimmels
Keyword(s):  
Rigid Body ◽  
Elastic Properties ◽  
Coefficient Of Friction ◽  
Coulomb Friction ◽  
Frictional Contact ◽  
Contact Point ◽  
Frictional Contacts ◽  
Active Constraints ◽  
The Coefficient Of Friction ◽  
Individual Contact

In this paper, the motion of an elastically suspended rigid body unilaterally constrained by frictional contact at multiple locations is studied. In this problem, each individual contact may or may not constrain the body’s motion. The set of actual active constraints is determined by: 1) the commanded motion of the body’s compliant support, 2) the coefficient of friction at each contact point, 3) the number and geometry of all potentially constraining surfaces, and 4) the elastic properties of the support. Here, the investigated problem is restricted to quasistatic motion and the interaction is characterized by Coulomb friction. We show that, for a passive compliant system, if the coefficient of friction at each contact is upper bounded, the set of active constraints is unique. A procedure to determine both the set of active constraints and the motion of the constrained body is provided.

scholarly journals Solving Models of Controlled Dynamic Planar Rigid-Body Systems with Frictional Contact

2005 ◽  
Vol 24 (11) ◽  
pp. 911-931 ◽  
Author(s):  
Aaron Greenfield ◽  
Uluç Saranli ◽  
Alfred A. Rizzi
Keyword(s):  
Rigid Body ◽  
Frictional Contact
Sign in / Sign up

Export Citation Format

Share Document