The objective of this paper is to show, through the planar rocking block example, that kinetic angles play a fundamental role in multiple impact with friction. Even in the presence of Coulomb friction, a critical kinetic angle is exhibited that allows one to split the blocks into two main classes: slender blocks with a kinetic angle larger than , and flat blocks with a kinetic angle smaller than . The value of varies with the friction value, but it is independent of the restitution coefficient (normal dissipation). Numerical results are obtained using a multiple impact law recently introduced by the authors. Some comparisons between numerical and experimental results that validate the used model and numerical scheme are presented. However, this paper is mainly based on numerical simulations.
Study of the Planar Rocking-Block Dynamics With Coulomb Friction: Critical Kinetic Angles
Contributed by the Design Engineering Division of ASME for publication in the Journal of Computational and Nonlinear Dynamics. Manuscript received March 23, 2011; final manuscript received June 21, 2012; published online July 23, 2012. Assoc. Editor: Tae-Won Park.
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Zhang, H., Brogliato, B., and Liu, C. (July 23, 2012). "Study of the Planar Rocking-Block Dynamics With Coulomb Friction: Critical Kinetic Angles." ASME. J. Comput. Nonlinear Dynam. April 2013; 8(2): 021002. https://doi.org/10.1115/1.4007056
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