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Author: Abhishek Chatterjee
Publisher:
ISBN:
Category : Contact mechanics
Languages : en
Pages : 198
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Book Description
Contact and impact analyses are an essential part of multibody dynamic simulations.Modeling of contact and impact problems have applications in a wide variety of areas including robotics, earthquake engineering, computer graphics, and manufacturing. Collisions between objects typically take place over surfaces that are represented by a set of points in the operation space, thereby requiring multi-point contact and impact analysis.Analysis of multi-point contact and impact may lead to indeterminate (underdetermined) problems with more number of unknowns (contact forces) than equations.This work pertains to the problem of resolving multi-point contact and impact problems in multibody systems consisting of hard objects, that can be assumed to be rigid.In the first part of this work, a rigidity based modeling and simulation technique is developed for multi-point impacts between hard objects. In this proposed framework impacts are treated as discrete events during which the velocities of the system evolve in the impulse-domain, based on an impulse-momentum theory called Darboux-Keller shock.Constraints derived based on the rigid body assumption are used to resolve indeterminacy associated with multi-point analysis. An energetic terminal constraint is also proposed. based on Stronge's Hypothesis, that guarantees the treatment of impact to be energetically consistent. This approach is used to derive both planar and three-dimensional models of multi-point indeterminate impacts.The rigid impact model based on impulse-momentum theory, developed in the first part of this work, loses some information like force and deformation histories during impacts. This lost information, however can be useful in certain types of application. Hence, to retain this information, the second part of this work proposes a method of augmenting the rigid-impact model with a contact force model from the contact mechanics literature to simultaneously determine the force and deformation histories during an impact event.The contact force model used here is a viscoelastoplastic model of contact that considers the effects of permanent (plastic) deformation in the material. A relationship is developed between the permanent deformations of the material and the energetic terminal constraint proposed in the first part of this work to characterize the force histories during collisions.The accumulation of discrete impact events during the time-domain simulation may lead to chattering or zeno phenomenon, causing the adaptive step-size integration to halt or fail. This work resolves this problem by transitioning to contact when the normal components of the post-impact velocities become very small. During contact, the forces between the participating rigid bodies satisfy the: 1) non-penetrability condition and 2) frictional force constraints based on Coulomb Friction. The non-penetrability condition enforces normal velocity and acceleration constraints on the equations of motion, whereas the Coulomb friction constrains the tangential forces at the contact points. These constraints placed on the equations of motion, lead to a reduction in the number of degrees of freedom (DOF) of the system. This work uses an online constraint embedding technique to enforce contact constraints.
Author: Abhishek Chatterjee
Publisher:
ISBN:
Category : Contact mechanics
Languages : en
Pages : 198
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Book Description
Contact and impact analyses are an essential part of multibody dynamic simulations.Modeling of contact and impact problems have applications in a wide variety of areas including robotics, earthquake engineering, computer graphics, and manufacturing. Collisions between objects typically take place over surfaces that are represented by a set of points in the operation space, thereby requiring multi-point contact and impact analysis.Analysis of multi-point contact and impact may lead to indeterminate (underdetermined) problems with more number of unknowns (contact forces) than equations.This work pertains to the problem of resolving multi-point contact and impact problems in multibody systems consisting of hard objects, that can be assumed to be rigid.In the first part of this work, a rigidity based modeling and simulation technique is developed for multi-point impacts between hard objects. In this proposed framework impacts are treated as discrete events during which the velocities of the system evolve in the impulse-domain, based on an impulse-momentum theory called Darboux-Keller shock.Constraints derived based on the rigid body assumption are used to resolve indeterminacy associated with multi-point analysis. An energetic terminal constraint is also proposed. based on Stronge's Hypothesis, that guarantees the treatment of impact to be energetically consistent. This approach is used to derive both planar and three-dimensional models of multi-point indeterminate impacts.The rigid impact model based on impulse-momentum theory, developed in the first part of this work, loses some information like force and deformation histories during impacts. This lost information, however can be useful in certain types of application. Hence, to retain this information, the second part of this work proposes a method of augmenting the rigid-impact model with a contact force model from the contact mechanics literature to simultaneously determine the force and deformation histories during an impact event.The contact force model used here is a viscoelastoplastic model of contact that considers the effects of permanent (plastic) deformation in the material. A relationship is developed between the permanent deformations of the material and the energetic terminal constraint proposed in the first part of this work to characterize the force histories during collisions.The accumulation of discrete impact events during the time-domain simulation may lead to chattering or zeno phenomenon, causing the adaptive step-size integration to halt or fail. This work resolves this problem by transitioning to contact when the normal components of the post-impact velocities become very small. During contact, the forces between the participating rigid bodies satisfy the: 1) non-penetrability condition and 2) frictional force constraints based on Coulomb Friction. The non-penetrability condition enforces normal velocity and acceleration constraints on the equations of motion, whereas the Coulomb friction constrains the tangential forces at the contact points. These constraints placed on the equations of motion, lead to a reduction in the number of degrees of freedom (DOF) of the system. This work uses an online constraint embedding technique to enforce contact constraints.
Author: Werner Schiehlen
Publisher: Springer Science & Business Media
ISBN: 9781402013393
Category : Technology & Engineering
Languages : en
Pages : 472
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Book Description
This book contains an edited versIOn of lectures presented at the NATO ADVANCED STUDY INSTITUTE on VIRTUAL NONLINEAR MUL TIBODY SYSTEMS which was held in Prague, Czech Republic, from 23 June to 3 July 2002. It was organized by the Department of Mechanics, Faculty of Mechanical Engineering, Czech Technical University in Prague, in cooperation with the Institute B of Mechanics, University of Stuttgart, Germany. The ADVANCED STUDY INSTITUTE addressed the state of the art in multibody dynamics placing special emphasis on nonlinear systems, virtual reality, and control design as required in mechatronics and its corresponding applications. Eighty-six participants from twenty-two countries representing academia, industry, government and research institutions attended the meeting. The high qualification of the participants contributed greatly to the success of the ADVANCED STUDY INSTITUTE in that it promoted the exchange of experience between leading scientists and young scholars, and encouraged discussions to generate new ideas and to define directions of research and future developments. The full program of the ADVANCED STUDY INSTITUTE included also contributed presentations made by participants where different topics were explored, among them: Such topics include: nonholonomic systems; flexible multibody systems; contact, impact and collision; numerical methods of differential-algebraical equations; simulation approaches; virtual modelling; mechatronic design; control; biomechanics; space structures and vehicle dynamics. These presentations have been reviewed and a selection will be published in this volume, and in special issues of the journals Multibody System Dynamics and Mechanics of Structures and Machines.
Author: Paulo Flores
Publisher: Springer
ISBN: 3319308971
Category : Technology & Engineering
Languages : en
Pages : 177
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Book Description
This book analyzes several compliant contact force models within the context of multibody dynamics, while also revisiting the main issues associated with fundamental contact mechanics. In particular, it presents various contact force models, from linear to nonlinear, from purely elastic to dissipative, and describes their parameters. Addressing the different numerical methods and algorithms for contact problems in multibody systems, the book describes the gross motion of multibody systems by using a two-dimensional formulation based on the absolute coordinates and employs different contact models to represent contact-impact events. Results for selected planar multibody mechanical systems are presented and utilized to discuss the main assumptions and procedures adopted throughout this work. The material provided here indicates that the prediction of the dynamic behavior of mechanical systems involving contact-impact strongly depends on the choice of contact force model. In short, the book provides a comprehensive resource for the multibody dynamics community and beyond on modeling contact forces and the dynamics of mechanical systems undergoing contact-impact events.
Author: Friedrich Pfeiffer
Publisher: John Wiley & Sons
ISBN: 3527618392
Category : Technology & Engineering
Languages : en
Pages : 329
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Book Description
As mechanical systems become more complex so do the mathematical models and simulations used to describe the interactions of their parts. One area of multibody theory that has received a great deal of attention in recent years is the dynamics of multiple contact situations occurring in continuous joints and couplings. Despite the rapid gains in our understanding of what occurs when continuous joints and couplings interact, until now there were no books devoted exclusively to this intriguing phenomenon. Focusing on the concerns of practicing engineers, Multibody Dynamics with Unilateral Contacts presents all theoretical and applied aspects of this subject relevant to a practical understanding of multiple unilateral contact situations in multibody mechanical systems. In Part 1, Professor Pfeiffer and Dr. Glocker provide an exhaustive review of the laws and principles governing the dynamics of unilateral contacts in multibody mechanical and technical systems. Among the topics covered are multibody and contact kinematics, the dynamics of rigid body systems, multiple contact configurations, detachment and stick-slip transitions, frictionless impacts, impacts with friction, and the Corner law of contact dynamics. In Part 2, the authors present numerous applications of the theories presented in Part 1. Each chapter in this part is devoted to a different law, theory, or model, such as discontinuous force laws, classical impact theory, Coulomb's friction law, and mechanical and mathematical models of impacts and friction. In addition, each chapter features several practical examples that allow engineers to observe the concepts described in action. Examples are drawn from a broad array of fields and range from hammering in gears as occurring in a synchronous generator to impacts and friction as observed in a child's woodpecker toy, from a demonstration of classical impact theory using an automobile gear box example, to Coulomb's friction law as applied to a turbine blade damper. Multibody Dynamics with Unilateral Contacts is an indispensable resource for mechanical engineers working on all types of multibody systems and the friction and vibration problems that can occur in them. It is also a valuable reference for researchers studying nonlinear dynamics. The only book devoted entirely to the theory and applications of onE of the most crucial aspects of multibody system design. This is the first book to focus exclusively on the theory and applications of multiple contact situations occurring in continuous joints and couplings in multibody systems. As such, it is a valuable resource for engineers working on mechanical systems with interrelated multiple parts. Multibody Dynamics with Unilateral Contacts * Provides a comprehensive examination of the laws and principles governing the dynamics of unilateral contacts in multibody mechanical and technical systems. * Presents the latest mathematical models and simulation techniques for describing the interactions of joints and couplings in multibody systems. * Describes practical applications for all the concepts covered. * Includes numerous examples drawn from a wide range of fascinating and enlightening real-world demonstrations, including everything from an airplane's landing gear to a child's toy.
Author: Jean-Claude Samin
Publisher: Springer Science & Business Media
ISBN: 9400754035
Category : Technology & Engineering
Languages : en
Pages : 219
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Book Description
This volume provides the international multibody dynamics community with an up-to-date view on the state of the art in this rapidly growing field of research which now plays a central role in the modeling, analysis, simulation and optimization of mechanical systems in a variety of fields and for a wide range of industrial applications. This book contains selected contributions delivered at the ECCOMAS Thematic Conference on Multibody Dynamics, which was held in Brussels, Belgium and organized by the Université catholique de Louvain, from 4th to 7th July 2011. Each paper reflects the State-of-Art in the application of Multibody Dynamics to different areas of engineering. They are enlarged and revised versions of the communications, which were enhanced in terms of self-containment and tutorial quality by the authors. The result is a comprehensive text that constitutes a valuable reference for researchers and design engineers which helps to appraise the potential for the application of multibody dynamics methodologies to a wide range of areas of scientific and engineering relevance.
Author: Adrian Rodriguez
Publisher:
ISBN:
Category : Dynamic
Languages : en
Pages : 138
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Book Description
This research is focused on improving the solutions obtained using theory in contact and impact modeling. A theoretical framework is developed which can simulate the performance of dynamic systems within a real world environment. This environment involves conditions, such as contact, impact and friction. Numerical simulation provides an easy way to perform numerous iterations with varying conditions, which is more cost effective than building equivalent experimental setups. The developed framework will serve as a tool for engineers and scientists to gain some insight on predicting how a system may behave. The current field of research in multibody system dynamics lacks a framework for modeling simultaneous, indeterminate contact and impact with friction. This special class of contact and impact problems is the major focus of this research. This research develops a framework, which contributes to the existing literature. The contact and impact problems examined in this work are indeterminate with respect to the impact forces. This is problematic because the impact forces are needed to determine the slip-state of contact and impact points. The novelty of the developed approach relies on the formation of constraints among the velocities of the impact points. These constraints are used to address the indeterminate nature of the collisions encountered. This approach strictly adheres to the assumptions of rigid body modeling in conjunction with the notion that the configuration of the system does not change in the short time span of the collision. These assumptions imply that the impact Jacobian is constant during the collision, which enforces a kinematic relationship between the impact points. The developed framework is used to address simultaneous, indeterminate contact and impact problems with friction. In the preliminary stages of this research, an iterative method, which incorporated an optimization function was used obtain the solutions for numerical solution to the collision. In an effort to improve the time and accuracy of the results, the iterative method was replaced with an analytical approach and implemented with the constraint formulation to achieve more energetically consistent solutions (i.e. there are no unusual gains in energy after the impact). The details of why this claim is valid will be discussed in more detail in this dissertation. The analytical framework was developed for planar contact and impact problems, while a numerical framework is developed for three-dimensional (3D) problems. The modeling of friction in 3D presents some challenging issues that are well documented in the literature, which make it difficult to apply an analytical framework. Simulations are conducted for a planar ball, planar rocking block problem, Newton's Cradle, 3D sphere, and 3D rocking block. Some examples serve as benchmark problems, in which the results are validated using experimental data.
Author: Paulo Flores
Publisher: Springer Science & Business Media
ISBN: 3540743618
Category : Technology & Engineering
Languages : en
Pages : 182
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Book Description
This book presents suitable methodologies for the dynamic analysis of multibody mechanical systems with joints. It contains studies and case studies of real and imperfect joints. The book is intended for researchers, engineers, and graduate students in applied and computational mechanics.
Author: Farid Amirouche
Publisher: Springer Science & Business Media
ISBN: 0817644067
Category : Technology & Engineering
Languages : en
Pages : 692
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Book Description
This textbook – a result of the author’s many years of research and teaching – brings together diverse concepts of the versatile tool of multibody dynamics, combining the efforts of many researchers in the field of mechanics.
Author: Raouf A. Ibrahim
Publisher: Springer Science & Business Media
ISBN: 3642002757
Category : Technology & Engineering
Languages : en
Pages : 301
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Book Description
Studies of vibro-impact dynamics falls into three main categories: modeling, mapping and applications. This text covers the latest in those studies plus selected deterministic and stochastic applications. It includes a bibliography exceeding 1,100 references.
Author: Michael Blundell
Publisher: Elsevier
ISBN: 0750651121
Category : Control theory
Languages : en
Pages : 542
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Book Description
Comprehensive, up-to-date and firmly rooted in practical experience, a key publication for all automotive engineers, dynamicists and students.
