Rigid-body impact modeling remains an intensive area of research spurred on by new applications in robotics, biomechanics, and more generally multibody systems. By contrast, the modeling of non-colliding contact dynamics has attracted significantly less attention. The existing approaches to solve non-colliding contact problems include compliant approaches in which the contact force between objects is defined explicitly as a function of local deformation, and complementarity formulations in which unilateral constraints are employed to compute contact interactions (impulses or forces) to enforce the impenetrability of the contacting objects. In this article, the authors develop a novel approach to solve the non-colliding contact problem for objects of arbitrary geometry in contact at multiple points. Similarly to the complementarity formulation, the solution is based on rigid-body dynamics and enforces contact kinematics constraints at the acceleration level. Differently, it leads to an explicit closed-form solution for the normal forces at the contact points. Integral to the proposed formulation is the treatment of tangential contact forces, in particular the static friction. These friction forces must be calculated as a function of microslip velocity or displacement at the contact point. Numerical results are presented for three test cases: 1) a thin rod sliding down a stationary wedge; 2) a cube rotating off the stationary wedge under application of an external moment and 3) the cube and the wedge both moving under application of a moment. To ascertain validity and correctness, the solutions to frictionless and frictional scenarios obtained with the proposed formulation are compared to those generated by using a commercial simulation tool MSC ADAMS.
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ASME 2006 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
September 10–13, 2006
Philadelphia, Pennsylvania, USA
Conference Sponsors:
- Design Engineering Division and Computers and Information in Engineering Division
ISBN:
0-7918-4256-8
PROCEEDINGS PAPER
A Contact Force Solution for Non-Colliding Contact Dynamics Simulation Available to Purchase
Inna Sharf,
Inna Sharf
McGill University, Montreal, QC Canada
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Yuning Zhang
Yuning Zhang
McGill University, Montreal, QC Canada
Search for other works by this author on:
Inna Sharf
McGill University, Montreal, QC Canada
Yuning Zhang
McGill University, Montreal, QC Canada
Paper No:
DETC2006-99139, pp. 677-687; 11 pages
Published Online:
June 3, 2008
Citation
Sharf, I, & Zhang, Y. "A Contact Force Solution for Non-Colliding Contact Dynamics Simulation." Proceedings of the ASME 2006 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 2: 30th Annual Mechanisms and Robotics Conference, Parts A and B. Philadelphia, Pennsylvania, USA. September 10–13, 2006. pp. 677-687. ASME. https://doi.org/10.1115/DETC2006-99139
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