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

M. Seabra Pereira, Parviz E Nikravesh

Research output: Contribution to journalArticle

37 Citations (Scopus)

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
StatePublished - 1996

Fingerprint

Frictional Contact
Multibody Systems
Equations of motion
Equations of Motion
Momentum
Mechanical Systems
Jump
Rebound
Dry Friction
Methodology
Minimal Set
Canonical form
Balancing
Closed-loop
Closed-loop System
Discontinuity
Contact
Friction
Motion
Formulation

Keywords

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

ASJC Scopus subject areas

  • Computational Mechanics
  • Mechanical Engineering
  • Mechanics of Materials

Cite this

Impact dynamics of multibody systems with frictional contact using joint coordinates and canonical equations of motion. / Pereira, M. Seabra; Nikravesh, Parviz E.

In: Nonlinear Dynamics, Vol. 9, No. 1-2, 1996, p. 53-71.

Research output: Contribution to journalArticle

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