This paper addresses methods for determining the motion of an elastically suspended rigid body interacting with frictional surfaces at multiple locations. The methods developed assume: 1) that the motion of the base from which the body is suspended and the elastic behavior of the suspension are known, 2) that inertial forces are negligible (motion is quasi-static), and 3) that the interaction is characterized by Coulomb friction. The derived coupled sets of spatial rigid body equations are used to determine both the unknown direction of the friction force (at each point of contact) and the unknown motion of the rigid body.
The Spatial Motion of a Compliantly Suspended Rigid Body Constrained by Multi-Point Frictional Contact
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Huang, S, & Schimmels, JM. "The Spatial Motion of a Compliantly Suspended Rigid Body Constrained by Multi-Point Frictional Contact." Proceedings of the ASME 2003 International Mechanical Engineering Congress and Exposition. Dynamic Systems and Control, Volumes 1 and 2. Washington, DC, USA. November 15–21, 2003. pp. 667-674. ASME. https://doi.org/10.1115/IMECE2003-42642
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