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Titolo:
Analysis of rigid-body dynamic models for simulation of systems with frictional contacts
Autore:
Song, P; Kraus, P; Kumar, V; Dupont, P;
Indirizzi:
Univ Penn, Grasp Lab, Philadelphia, PA 19104 USA Univ Penn Philadelphia PA USA 19104 Grasp Lab, Philadelphia, PA 19104 USA Boston Univ, Dept Aeronaut & Mech Engn, Boston, MA 02215 USA Boston Univ Boston MA USA 02215 eronaut & Mech Engn, Boston, MA 02215 USA
Titolo Testata:
JOURNAL OF APPLIED MECHANICS-TRANSACTIONS OF THE ASME
fascicolo: 1, volume: 68, anno: 2001,
pagine: 118 - 128
SICI:
0021-8936(200101)68:1<118:AORDMF>2.0.ZU;2-9
Fonte:
ISI
Lingua:
ENG
Soggetto:
COULOMB-FRICTION;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
Engineering, Computing & Technology
Citazioni:
23
Recensione:
Indirizzi per estratti:
Indirizzo: Song, P Univ Penn, Grasp Lab, 3401 Walnut St, Philadelphia, PA 19104 USA Univ Penn 3401 Walnut St Philadelphia PA USA 19104 a, PA 19104 USA
Citazione:
P. Song et al., "Analysis of rigid-body dynamic models for simulation of systems with frictional contacts", J APPL MECH, 68(1), 2001, pp. 118-128

Abstract

The use of Coulomb's friction law with the principles of classical rigid-body dynamics introduces mathematical inconsistencies. Specifically, the forward dynamics problem can have no solutions or multiple solutions. In thesesituations, compliant contact models, while increasing the dimensionality of the state vector, can resolve these problems. The simplicity and efficiency of rigid-body models, however, provide strong motivation for their use during those portions of a simulation when the rigid-body solution is unique and stable. In this paper, we use singular perturbation analysis in conjunction with linear complementarity theory to establish conditions under which the solution is unique and stable. In this paper, we use singular perturbation analysis in conjunction with linear complementarity theory to establish conditions under which the solution predicted by the rigid-body dynamicmodel is stable. We employ a general model of contact compliance to derivestability criteria for planar mechanical systems. In particular, we show that for cases with one sliding contact, there is always at most one stable solution. Our approach is not directly applicable to transition between rolling and sliding where the Coulomb friction law is discontinuous. To overcome this difficulty, we introduce a smooth nonlinear friction law, which approximates Coulomb friction. Such a friction model can also increase the efficiency of both rigid-body and compliant contact simulation. Numerical simulations for the different models and comparison with experimental results are also presented.

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Documento generato il 04/04/20 alle ore 20:19:50