Impact dynamics of multibody systems with frictional contact using joint coordinates and canonical equations of motion

M. Seabra Pereira, P. Nikravesh

Research output: Contribution to journalArticle

39 Scopus citations

Abstract

This paper presents a methodology in computational dynamics for the analysis of mechanical systems that undergo intermittent motion. A canonical form of the equations of motion is derived with a minimal set of coordinates. These equations are used in a procedure for balancing the momenta of the system over the period of impact, calculating the jump in the body momentum, velocity discontinuities and rebounds. The effect of dry friction is discussed and a contact law is proposed. The present formulation is extended to open and closed-loop mechanical systems where the jumps in the constraints' momenta are also solved. The application of this methodology is illustrated with the study of impact of open-loop and closed-loop examples.

Original languageEnglish (US)
Pages (from-to)53-71
Number of pages19
JournalNonlinear Dynamics
Volume9
Issue number1-2
DOIs
StatePublished - Jan 1 1996

Keywords

  • Contact
  • Friction
  • Impact dynamics
  • Joint coordinates
  • Multibody systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Aerospace Engineering
  • Ocean Engineering
  • Mechanical Engineering
  • Applied Mathematics
  • Electrical and Electronic Engineering

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