On multiple impact

Иванов, А. П.

doi:10.1016/0021-8928(95)00122-0

Cited by 76 publications

(43 citation statements)

References 2 publications

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“…Measuring relative contact stiffness is important for real application of the model. 27 Upgrade and better design of hardware will improve accuracy in validation. Other issues worthy of exploration include area contact and gravity (when impact has a non-negligible duration).…”

Section: Discussion and Future Workmentioning

confidence: 99%

“…In the control theory, it is known that a system of differential equations with unilateral constraints could be very sensitive to small perturbations in the input and round-off errors in numerical simulation, and have discontinuity in its solution. 28 27 A formula for (nonlinear) Hertz contact is known Nguyen and Brogliato 2012). 28 Brach (2007) used the Design of Experiments method to examine the sensitivity of planar impact (particularly in Our impact system fits in this category.…”

Section: Discussion and Future Workmentioning

confidence: 99%

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Multiple impacts: A state transition diagram approach

Jia

Mason

Erdmann

2012

The International Journal of Robotics Research

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Section: Discussion and Future Workmentioning

confidence: 99%

Section: Discussion and Future Workmentioning

confidence: 99%

Multiple impacts: A state transition diagram approach

Jia

Mason

Erdmann

2012

The International Journal of Robotics Research

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“…A differential relationship like (21) holds between the active normal impulses at two contact points. We would like to compare the model with other existing models [3,8,5] on multiple impacts. Our main effort, though, will be experimental verification of the impact model for billiard shots.…”

Section: Discussion and Future Workmentioning

confidence: 99%

A State Transition Diagram for Simultaneous Collisions with Application in Billiard Shooting

Jia

Mason

Erdmann

2009

Springer Tracts in Advanced Robotics

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Abstract. This paper models a multibody collision in the impulse space as a state transition diagram, where each state represents a phase during which impacts are "active" at only a subset of the contact points. A state transition happens whenever an active impact finishes restitution, or an inactive impact gets reactivated, depending on whether the two involved bodies are instantaneously penetrating into each other or not. The elastic energy due to an impact is not only affected by the impulse at the corresponding contact point, but also by other impulses exerted on the two involved bodies during the impact. Consequently, Poisson's impulse-based law of restitution could result in negative energy. A new law governing the loss of elastic energy during restitution is introduced. Convergence of the impulse sequence generated by the state transition diagram is established. The collision outcome depends on the ratios of the contact stiffnesses rather than on their individual values. The collision model is then applied in an analysis of billiard shooting in which the cue stick impacts the cue ball, which in turn impacts the pool table.

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“…The aforementioned methods may not be applicable to multiple-point collisions [8]. In that case, the use of a compliant model is unavoidable.…”

Section: Multiple-point Impact With Redundancymentioning

confidence: 99%

“…Some authors [8,9], though, follow Routh and Darboux approaches for multiple pointcollisions and use the normal impulse at one selected collision point as integration variable.…”

Section: Multiple-point Impact With Redundancymentioning

confidence: 99%

Combining vibrational linear-by-part dynamics and kinetic-based decoupling of the dynamics for multiple elastoplastic smooth impacts

2015

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Abstract. This article proposes a linear-by-part approach for elastoplastic 3D multiple-point smooth impacts in multibody systems energy dissipation due to material deformation is introduced through a linear-by-part elastoplastic model consisting on two elementary sets of springs and dry-friction dampers. The first set accounts for inelastic behavior (energy loss without permanent indentation), while the second one introduces plasticity (that is, permanent indentation). In inelastic and plastic collisions, instantaneous unilateral constraints may appear, thus reducing the number of degrees of freedom (DOF)

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On multiple impact

Cited by 76 publications

References 2 publications

Multiple impacts: A state transition diagram approach

Multiple impacts: A state transition diagram approach

A State Transition Diagram for Simultaneous Collisions with Application in Billiard Shooting

Combining vibrational linear-by-part dynamics and kinetic-based decoupling of the dynamics for multiple elastoplastic smooth impacts

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