Coulomb Friction in Two‐Dimensional Rigid Body Systems

Lötstedt, Per

doi:10.1002/zamm.19810611202

Cited by 223 publications

(131 citation statements)

References 7 publications

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“…This paper represents a step toward the development of improved engineering design tools for mechanical systems with unilateral contact. Following in the footsteps of Lötstedt and others who have popularized the use of complementarity methods in rigid body dynamics [7,8,11], we extend the model developed formally in [15] to include a frictional moment (transmitted about the contact normal). While it is not possible to transmit such a moment through a point contact (as would occur generically between curved rigid bodies), we include it in our model in recognition of the fact that contacts between stiff real bodies are distributed over small patches [6] and that the friction forces obey the maximum work inequality [5].…”

Section: Introductionmentioning

confidence: 99%

Dynamic Multi-Rigid-Body Systems with Concurrent Distributed Contacts: Theory and Examples

Trinkle¹,

Tzitzouris²,

Pang³

2001

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Consider a system of rigid bodies with multiple concurrent contacts. The multi-rigid-body contact problem is to predict the accelerations of the bodies and the normal friction loads acting at the contacts. This paper presents theoretical results for the multi-rigid-body contact problem under the assumptions that one or more contacts occur over locally planar, finite regions and that friction forces are consistent with the maximum work inequality. Existence and uniqueness results are presented for this problem under mild assumptions on the system inputs. In addition, the performance of two different time-stepping methods for integrating the dynamics are compared on two simple multi-body systems.

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Section: Introductionmentioning

confidence: 99%

Dynamic Multi-Rigid-Body Systems with Concurrent Distributed Contacts: Theory and Examples

Trinkle¹,

Tzitzouris²,

Pang³

2001

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“…In the next simulation step the contact surface of the initial simulation is re-shaped according to the wear-rate function r W (16). The maximum used change of body shape is u Max = 0.15 μm.…”

Section: Run-in Period (Wear)mentioning

confidence: 99%

“…The first studies of unilateral contacts in the form of a linear complementarity problem were published by Lötstedt [16,17].…”

Section: Introductionmentioning

confidence: 99%

Simulating Multibody Dynamics With Rough Contact Surfaces and Run-in Wear

Slavič

Boltežar

2006

Nonlinear Dyn

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Abstract. The overall dynamics of a multibody system is actually a multi-scale problem because it depends a great deal on the local contact properties (coefficient of restitution, friction, roughness, etc). In this paper we found that the briefly presented force-based theory of plane dynamics for a multibody system with unilateral contacts was appropriate for simulating detailed multi-contact situations of rough contacting surfaces.The focus of the paper is on a geometrically detailed description of rough surfaces. To achieve the run-in effect of the contacting surfaces under dynamical loads the contacting surfaces need to be re-shaped. For the re-shaping a wear model based on the local loss of mechanical energy under dynamical loads is presented.The new ideas are presented for a numerical analysis of measuring the coefficient of friction at the rim of a wheel (rotating body). With the help of the analysis the experimentally observed change in the measured coefficient of friction of up to 30% for only slightly altered experimental conditions is explained.

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“…Timestepping methods, which have their origins in early 80's [17], were developed to overcome some of these difficulties. The contact state (rolling, sliding or no contact) at each contact is allowed to change at any time, and the transitions between contact states are described by complementarity constraints on the relative positions (or their derivatives) and contact forces (or their integrals).…”

Section: Introductionmentioning

confidence: 99%

A Two-Point Boundary-Value Approach for Planning Manipulation Tasks

Song¹,

Kumar²,

Pang³

2005

Robotics: Science and Systems I

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Abstract-We consider the problem of planning manipulation tasks in which rigid body dynamics are significant and the rigid bodies undergo frictional contacts. We develop a dynamic model with frictional compliant contacts, and a time-stepping algorithm that lends itself to finding trajectories with constraints on the starting and goal conditions. Because we explicitly model the local compliance at the contact points, we can incorporate impacts without resetting the states and reinitializing the dynamic models. The problem of solving for the frictional forces with the Coulomb friction cone law reduces to a convex quadratic program. We show how this formulation can be used to solve boundary value problems that are relevant to process design, design optimization and trajectory planning with practical examples. To our knowledge, this paper is the first time boundary value problems involving changes in contact conditions have been solved in a systematic way.

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Coulomb Friction in Two‐Dimensional Rigid Body Systems

Cited by 223 publications

References 7 publications

Dynamic Multi-Rigid-Body Systems with Concurrent Distributed Contacts: Theory and Examples

Dynamic Multi-Rigid-Body Systems with Concurrent Distributed Contacts: Theory and Examples

Simulating Multibody Dynamics With Rough Contact Surfaces and Run-in Wear

A Two-Point Boundary-Value Approach for Planning Manipulation Tasks

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