Dynamic Multi-Rigid-Body Systems with Concurrent Distributed Contacts: Theory and Examples

TRINKLE, JEFFREY C. ; TZITZOURIS, J.A. ; PANG, J.S.

Sandia National Laboratories

关键词: Acceleration;    Maximum Work Inequality;    99 General And Miscellaneous//Mathematics, Computing, And Information Science;    Complementarity;    Mathematical Models;   

DOI  :  10.2172/780283
RP-ID  :  SAND2001-0076
RP-ID  :  AC04-94AL85000
RP-ID  :  780283

美国|英语

来源: UNT Digital Library

【 摘 要 】

Consider a system of rigid bodies with multiple concurrent contacts. The multi-rigid-body contact problem is to predict the accelerations of the bodies and the normal friction loads acting at the contacts. This paper presents theoretical results for the multi-rigid-body contact problem under the assumptions that one or more contacts occur over locally planar, finite regions and that friction forces are consistent with the maximum work inequality. Existence and uniqueness results are presented for this problem under mild assumptions on the system inputs. In addition, the performance of two different time-stepping methods for integrating the dynamics are compared on two simple multi-body systems.