A collision model for deformable bodies

Deguet, Anton; Joukhadar, Ammar; Laugier, C.

doi:10.1109/iros.1998.724690

Cited by 7 publications

(6 citation statements)

References 5 publications

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“…The second methodology assumes that interaction forces between bodies vary continuously during impact and that they depend on the local deformation state. Traditionally, penalty based [39,67,69,70], Lagrange multiplier based [12,72,110,122], and augmented Lagrange based [112] methods are routinely used to estimate these forces within the context of finite element techniques applied to the contacting bodies. These methods all require the minimization of a gap potential which is representative of inter-particle overlap.…”

Section: Literature Surveymentioning

confidence: 99%

Meso-Scale Heating Predictions for Weak Impact of Granular Energetic Solids

Panchadhar¹,

Gonthier²

2009

AIP Conference Proceedings

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I would like to acknowledge several people who have contributed in several ways to make my graduate experience enjoyable and rewarding. First and foremost, I would like to acknowledge my advisor, Associate Prof. Keith Gonthier, for his technical expertise and guidance. Our countless discussions on technical as well as everyday issues have made me come to think of him as a colleague and a friend rather than a mentor.

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Section: Literature Surveymentioning

confidence: 99%

Meso-Scale Heating Predictions for Weak Impact of Granular Energetic Solids

Panchadhar¹,

Gonthier²

2009

AIP Conference Proceedings

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“…A. Deguet, etc. [5] constructed a "penalty" based model for contact deformation through visco-elastic relations, and then chose visco-elastic parameters as well as computation time step based on physical concepts for the model. Compared with experimental data, the penalty based model showed the advantages over impulse model in precision in dealing with the contact problems of deformable bodies.…”

Section: Introductionmentioning

confidence: 99%

Impact analysis of space manipulator collision with soft environment

Zhang

Jia

Chen

et al. 2014

2014 9th IEEE Conference on Industrial Electronics and Applications

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A continuous contact model for space manipulator collision with soft environment is proposed in this paper. Instead of instant impulse, the collision force in this paper is considered as a continuous force based on Hertz law with a hysteresis damping and a concept of effective mass is proposed to apply the model to manipulator system. The effects of the collision are analyzed later and results of numerical simulations show the force/torque on the base and joints of the manipulator responding to the contact force during collision.

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“…A second class of methods assumes that interaction forces between bodies vary continuously during impact and depend on the local deformation state. Both Lagrange multiplier and penalty techniques [3,8,12,15] are routinely used to estimate these forces within the context of finite element techniques applied to contacting bodies. These methods better describe complex system behavior, including the effects of inter-body friction [8,16,22,31].…”

Section: Introductionmentioning

confidence: 99%

Energy partitioning within a micro-particle cluster due to impact with a rigid planar wall

Panchadhar

Gonthier

2009

Comput Mech

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A combined finite and discrete element method is used to examine the energetics of a two-dimensional microparticle cluster that impacts a rigid planar wall. The method combines conservation principles with an elastic-viscoplastic and friction constitutive theory to predict thermomechanical fields within particles resulting from both particle-wall and particle-particle contact. Emphasis is placed on characterizing the temporal and spatial partitioning of cluster energy with impact angle (0 • ≤ φ ≤ 80 • , where φ = 0 • corresponds to normal impact). Predictions for a close-packed cluster of well-resolved particles having an average initial radius and uniform speed of 50 µm and 300 m/s indicate that particles adjacent to the wall experience the largest plastic and friction work. Friction significantly affects cluster kinetic energy, but minimally affects its elastic strain energy and plastic work. Local temperature rises in excess of 900 K are predicted for φ = 0 • , increasing to 4,400 K for approximately φ > 60 • , with most of the cluster mass (≈98%) experiencing temperature rises less than 200 K due to plastic work. These predictions highlight the importance of friction work as a heating mechanism that may induce combustion of energetic clusters. Sensitivity of the cluster response to its initial packing configuration is demonstrated.

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A collision model for deformable bodies

Cited by 7 publications

References 5 publications

Meso-Scale Heating Predictions for Weak Impact of Granular Energetic Solids

Meso-Scale Heating Predictions for Weak Impact of Granular Energetic Solids

Impact analysis of space manipulator collision with soft environment

Energy partitioning within a micro-particle cluster due to impact with a rigid planar wall

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