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Analysis of a generalized kinematic impact law for multibody-multicontact systems, with application to the planar rocking block and chains of balls
Abstract : In this paper, we analyze the capabilities of a generalized kinematic (Newton's like) restitution law for the modeling of a planar rigid block that impacts a rigid ground. This kinematic restitution law is based on a specific state transformation of the Lagrangian dynamics, using the kinetic metric on the configuration space. It allows one to easily derive a restitution rule for multiple impacts. The relationships with the classical angular velocity restitution coefficient r for rocking motion are examined in detail. In particular, it is shown that r has the interpretation of a tangential restitution coefficient. The case when Coulomb's friction is introduced at the contact impulse level together with an angular velocity restitution is analyzed. A simple chain of aligned balls is also examined, illustrating that the impact law applies to various types of multibody systems.
Cited literature [57 references]
https://hal.inria.fr/hal-00825573
Contributor : Bernard Brogliato <>
Submitted on : Friday, November 3, 2017 - 4:04:09 AM
Last modification on : Wednesday, March 24, 2021 - 12:50:06 PM
Long-term archiving on: : Sunday, February 4, 2018 - 12:33:18 PM
Contributor : Bernard Brogliato <>
Submitted on : Friday, November 3, 2017 - 4:04:09 AM
Last modification on : Wednesday, March 24, 2021 - 12:50:06 PM
Long-term archiving on: : Sunday, February 4, 2018 - 12:33:18 PM
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