Abstract
In the paper a numerical algorithm for modeling of impact of rigid and flexible multibody systems considering the nonlinear Coulomb friction is presented. The algorithm is developed on the basis of the kinematic decomposition of the contacting surfaces. The possible motion along the normal direction of the contact point tangential plane is considered generalized coordinate. The impulse-momentum equations are derived using a general algorithm for dynamics modeling and solved consequently for the two stages, compression and restitution, of the impact process. Rigid body impact theory and analysis of the contacting point relative velocity are applied for effective modeling of the events sliding-stiction and reverse sliding. The method presented considers either Newton’s or Poisson’s hypothesis for the coefficient of restitution. The same approach is used for flexible systems that are discretized using finite element theory. It is pointed out that, if rigid multibody systems are considered, the coefficient of restitution does not reveal the true picture of the impact process. Several examples are solved and compared with the results obtained in other treatments.
