Multibody Dynamics with Unilateral Constraints: Computational Modelling of Soft Contact and Dry Friction

Abstract : We consider a system of rigid bodies subjected to unilateral constraints with soft contact and dry friction. When the constraints are saturated, velocity jumps may occur and the dynamics is described in generalized coordinates by a second-order measure differential inclusion for the unknown configurations. Observing that the right velocity obeys a minimization principle, a time-stepping algorithm is proposed. It allows to construct a sequence of approximate solutions satisfying at each time-step a discrete contact law which mimics the behaviour of the system in case of collision. In case of tangential contact, dry friction may lead to indeterminacies such as the famous Painlevé’s paradoxes. By a precise study of the asymptotic properties of the scheme, it is shown that the limit of the approximate trajectories exhibits the same kind of indeterminacies.
Type de document :
Communication dans un congrès
Lorena Bociu; Jean-Antoine Désidéri; Abderrahmane Habbal. 27th IFIP Conference on System Modeling and Optimization (CSMO), Jun 2015, Sophia Antipolis, France. Springer International Publishing, IFIP Advances in Information and Communication Technology, AICT-494, pp.420-429, 2016, System Modeling and Optimization. 〈10.1007/978-3-319-55795-3_40〉
Liste complète des métadonnées

Littérature citée [17 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/hal-01626923
Contributeur : Hal Ifip <>
Soumis le : mardi 31 octobre 2017 - 14:41:44
Dernière modification le : mercredi 1 novembre 2017 - 01:09:39
Document(s) archivé(s) le : jeudi 1 février 2018 - 13:14:20

Fichier

 Accès restreint
Fichier visible le : 2019-01-01

Connectez-vous pour demander l'accès au fichier

Licence


Distributed under a Creative Commons Paternité 4.0 International License

Identifiants

Citation

Laetitia Paoli. Multibody Dynamics with Unilateral Constraints: Computational Modelling of Soft Contact and Dry Friction. Lorena Bociu; Jean-Antoine Désidéri; Abderrahmane Habbal. 27th IFIP Conference on System Modeling and Optimization (CSMO), Jun 2015, Sophia Antipolis, France. Springer International Publishing, IFIP Advances in Information and Communication Technology, AICT-494, pp.420-429, 2016, System Modeling and Optimization. 〈10.1007/978-3-319-55795-3_40〉. 〈hal-01626923〉

Partager

Métriques

Consultations de la notice

38