Making a meaningful impact: modelling simultaneous frictional collisions in spatial multibody systems.

ABSTRACT: Impacts are instantaneous, computationally efficient approximations of collisions. Current impact models sacrifice important physical principles to achieve that efficiency, yielding qualitative and quantitative errors when applied to simultaneous impacts in spatial multibody systems. We present a new impact model that produces behaviour similar to that of a detailed compliant contact model, while retaining the efficiency of an instantaneous method. In our model, time and configuration are fixed, but the impact is resolved into distinct compression and expansion phases, themselves comprising sliding and rolling intervals. A constrained optimization problem is solved for each interval to compute incremental impulses while respecting physical laws and principles of contact mechanics. We prese

SUBMITTER: Uchida TK 

PROVIDER: S-EPMC4984984 | biostudies-literature | 2015 May

REPOSITORIES: biostudies-literature