Analysis of a generalized kinematic impact law for multibody-multicontact systems, with application to the planar rocking block and chains of balls

Bernard Brogliato 1, * Zhang Hongjian 2 Caishan Liu 2
* Auteur correspondant
1 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, INPG - Institut National Polytechnique de Grenoble
2 State Key Laboratory for Turbulence and Complex Systems [Beijing]
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.
Keywords : Moreau's impact law Coulomb's friction Chains of balls Multiple impacts Rocking block Kinetic angle Kinematic restitution law Housner model
Type de document :
Article dans une revue
Multibody System Dynamics, Springer Verlag, 2012, 27 (3), pp.351-382. 〈10.1007/s11044-012-9301-3〉
Liste complète des métadonnées

Littérature citée [58 références]  Voir  Masquer  Télécharger
https://hal.inria.fr/hal-00825573
Contributeur : Bernard Brogliato <>
Soumis le : vendredi 3 novembre 2017 - 04:04:09
Dernière modification le : mercredi 11 avril 2018 - 01:58:23
Document(s) archivé(s) le : dimanche 4 février 2018 - 12:33:18

Fichier

BBHZCL.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

Collections

UGA | LJK_MAD_BIPOP | LJK_MAD | LJK | INSMI | INRIA | TDS-MACS | INRIA-RENGRE

Citation

Bernard Brogliato, Zhang Hongjian, Caishan Liu. Analysis of a generalized kinematic impact law for multibody-multicontact systems, with application to the planar rocking block and chains of balls. Multibody System Dynamics, Springer Verlag, 2012, 27 (3), pp.351-382. 〈10.1007/s11044-012-9301-3〉. 〈hal-00825573〉

Exporter

BibTeX TEI DC DCterms EndNote

Partager

Métriques

Consultations de la notice

345

Téléchargements de fichiers

34

Contact


archive-ouverte@inria.fr