Spatial Algorithms for Geometric Contact Detection in Multibody System Dynamics

Corral, Eduardo; Moreno, Raúl Gismeros; Meneses, J.; Gómez, María José; Castejón, Cristina

doi:10.3390/math9121359

Cited by 18 publications

(6 citation statements)

References 55 publications

(73 reference statements)

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“…This block allows to develop a contact model between a pair of bodies. Among the contact-force models in multibody dynamics ( Skrinjar et al, 2018 ), Simscape Multibody uses as default the Kelvin-Voigt model, which was used in ( Machado et al, 2012 ; Corral et al, 2021 ). The model is based on a regularized approach, also known as compliance or visco-elastic method, in which the contacting bodies are considered to be deformable at the contact zone, and the contact forces can be expressed as a continuous function of the local deformation between the contacting surfaces.…”

Section: Methodsmentioning

confidence: 99%

Modeling and Simulation of Robotic Grasping in Simulink Through Simscape Multibody

et al. 2022

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Grasping and dexterous manipulation remain fundamental challenges in robotics, above all when performed with multifingered robotic hands. Having simulation tools to design and test grasp and manipulation control strategies is paramount to get functional robotic manipulation systems. In this paper, we present a framework for modeling and simulating grasps in the Simulink environment, by connecting SynGrasp, a well established MATLAB toolbox for grasp simulation and analysis, and Simscape Multibody, a Simulink Library allowing the simulation of physical systems. The proposed approach can be used to simulate the grasp dynamics in Simscape, and then analyse the obtained grasps in SynGrasp. The devised functions and blocks can be easily customized to simulate different hands and objects.

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Section: Methodsmentioning

confidence: 99%

Modeling and Simulation of Robotic Grasping in Simulink Through Simscape Multibody

et al. 2022

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“…According to the spatial algorithms for geometric contact detection [28], the penetration δ cg caused by the collision can be evaluated, as follows: The interaction force of the ball with pocket is presented in Fig. 4.…”

Section: Fig 3 Interaction Between Cage and Guiding Ringmentioning

confidence: 99%

Correlation between vibration and power consumption of angular contact ball bearings under structural size combinations based on nonlinear dynamic model

Deng

Zhao

Yang

et al. 2023

Preprint

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To explore the correlation between vibration and power consumption of angular contact ball bearings, the evaluation of power consumption was merged into the original nonlinear dynamic model of ball bearings and this model was validated by the experimental method. On this basis, a comprehensive analysis of vibration and power consumption of ball bearings was conducted, then, the variations in the power consumption and vibration at different numbers of balls and groove curvature radii were studied, again, their optimal combinations were determined to attain the acceptable power consumption, dynamic stability and vibration in the bearing system. The corresponding results illustrate that reducing the maximum number of balls by one or two can obtain the good dynamic performance of friction consumption, dynamic stability and vibration of ball bearings, besides, the combination of inner and outer groove curvature radii should both strengthen contact loads and effectively guide the motion of the ball to get the favorable comprehensive performances.

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“…Three contact interactions are identified in the proposed model: ball-ball, ball-cloth, and ball-cushion. Some geometric data of the bodies must be provided to model the impact events and to calculate the contact detection condition, the contact direction and the value of the indentation [77]. For the ball-ball interaction, the radii of the balls must be defined, the contact condition being: where d ~is a vector set between the centres of the balls i and j (see Fig.…”

Section: Materials Characteristics Of the Model And Geometric Modelling Of The Contact Interactionsmentioning

confidence: 99%

“…Fig.5Sphereparallelepiped contact detection algorithm[77]: a projection of the centre of the sphere on the plane coinciding with the upper surface of the prism; b normal view to the plane, where face boundaries are defined by the dimensions of the prism (distance x and distance y )…”

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confidence: 99%

Modelling multiple-simultaneous impact problems with a nonlinear smooth approach: pool/billiard application

et al. 2021

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Smooth approaches are able to model reasonably well contact/impact events between two bodies, showing some peculiarities when dealing with certain geometries and arising certain issues with the detection of the initial instant of contact. The characterization of multiple-simultaneous interaction systems, considering (or not) energy dissipation phenomena (mainly friction), is always an interesting research topic, addressed from different perspectives. In the present work, the process of design, optimization and verification of a multiple-impact, day-to-day multibody novel model is shown. Specifically, we have decided to focus on a pool/billiard game due to its geometry simplicity. The model involves several balls moving freely and rolling, suffering different kinds of contacts/impacts among them and against the cushions and the cloth. In this system, the proper modelling of both contact and friction forces in the multiple, simultaneous contacts and impacts events is critical to obtain consistent results. In addition, these forces are complicated to model because of its nonlinear behaviour. The different existing approaches when dealing with multiple-contact events are briefly described, along with their most distinctive features. Then, the interactions identified on the model are implemented using several nonlinear contact-force models, following a smooth-based approach and considering friction phenomena, aiming at determining the most suitable set of both contact and friction force models for each of these implemented interactions, which take place simultaneously, thus resulting in a complex system with multiple impacts. Subsequently, the solving method that provides the most accurate results at the minimum computational cost is determined by testing a simple shot. Finally, the different interactions on the model are verified using experimental results and previous works. One of the main goals of this work is to show the some of the issues that arise when dealing with multiple-simultaneous impact multibody systems from a smooth-contact approach, and how researchers can deal with them.

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Spatial Algorithms for Geometric Contact Detection in Multibody System Dynamics

Cited by 18 publications

References 55 publications

Modeling and Simulation of Robotic Grasping in Simulink Through Simscape Multibody

Modeling and Simulation of Robotic Grasping in Simulink Through Simscape Multibody

Correlation between vibration and power consumption of angular contact ball bearings under structural size combinations based on nonlinear dynamic model

Modelling multiple-simultaneous impact problems with a nonlinear smooth approach: pool/billiard application

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