Modeling of Rigid Body Contacts for Dynamic Simulation PDF Download
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Author: Peter R. Kraus
Publisher:
ISBN:
Category :
Languages : en
Pages : 326
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Book Description
Author: Peter R. Kraus
Publisher:
ISBN:
Category :
Languages : en
Pages : 326
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Book Description
Author: Murilo G. Coutinho
Publisher: Springer Science & Business Media
ISBN: 1447144163
Category : Computers
Languages : en
Pages : 402
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Book Description
This book introduces the techniques needed to produce realistic simulations and animations of particle and rigid-body systems. The text focuses on both the theoretical and practical aspects of developing and implementing physically based dynamic-simulation engines. Each chapter examines numerous algorithms, describing their design and analysis in an accessible manner, without sacrificing depth of coverage or mathematical rigor. Features: examines the problem of computing an hierarchical representation of the geometric description of each simulated object, as well as the simulated world; discusses the use of discrete and continuous collision detection to handle thin or fast-moving objects; describes the computational techniques needed for determining all impulsive and contact forces between bodies with multiple simultaneous collisions and contacts; presents techniques that can be used to dynamically simulate articulated rigid bodies; concludes each chapter with exercises.
Author: Reza Pedrami
Publisher:
ISBN:
Category :
Languages : en
Pages : 0
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Book Description
Rigid body systems may undergo numerous types of dynamic interactions including collisions and continuous contact which considerably complicate systematic modelling and simulation of such problems. This thesis introduces a new modelling approach based on a hybrid system formulation to describe the dynamics of interacting rigid body systems. Interaction among physical objects occurs in two different forms: impulsive contact and continuous contact. Characteristics of impulsive and continuous contacts are different. Hence the modelling of each contact type requires the use of different approaches. While the impulse-modelling approach better simulates the impulsive contacts, our findings indicate that continues contact is much more accurately modeled using the sliding manifold method. The proposed hybrid system approach combines the impulse modelling method for collision interactions and the sliding manifold method to model the differential-algebraic equations associated with continuous contact interactions. Appropriate discrete states, events, reset maps, and threshold parameters that yield a hybrid automaton framework to describe interacting rigid body systems are developed. To illustrate the effectiveness of the proposed method a rolling ball simulation for a virtual reality system is presented.
Author: Murilo G. Coutinho
Publisher: Springer Science & Business Media
ISBN: 147573476X
Category : Computers
Languages : en
Pages : 387
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Book Description
This book introduces the techniques needed to produce realistic simulations and animations of particle and rigid body systems. It focuses on both the theoretical and practical aspects of developing and implementing physically based dynamic simulation engines that can be used to generate convincing animations of physical events involving particles and rigid bodies. It can also be used to produce accurate simulations of mechanical systems, such as a robotic parts feeder. The book is intended for researchers in computer graphics, computer animation, computer-aided mechanical design and modeling software developers.
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: 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: Roy Featherstone
Publisher: Springer
ISBN: 1489975608
Category : Education
Languages : en
Pages : 276
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Book Description
Rigid Body Dynamics Algorithms presents the subject of computational rigid-body dynamics through the medium of spatial 6D vector notation. It explains how to model a rigid-body system and how to analyze it, and it presents the most comprehensive collection of the best rigid-body dynamics algorithms to be found in a single source. The use of spatial vector notation greatly reduces the volume of algebra which allows systems to be described using fewer equations and fewer quantities. It also allows problems to be solved in fewer steps, and solutions to be expressed more succinctly. In addition algorithms are explained simply and clearly, and are expressed in a compact form. The use of spatial vector notation facilitates the implementation of dynamics algorithms on a computer: shorter, simpler code that is easier to write, understand and debug, with no loss of efficiency.
Author: Shameek Prodosh Ganguly
Publisher:
ISBN:
Category :
Languages : en
Pages :
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Book Description
Advanced robotic manipulation holds the key to extending human reach to new frontiers, and improving the quality of human life. Modern techniques of programming robotic manipulation strategies leverage force feedback, task-oriented control and expert task demonstration through visual-haptic interfaces. Developing robust manipulation strategies requires accurate and efficient models for simultaneous contacts between robots and other parts of their workspace. Such contact models are commonly embedded into compliant manipulation strategies, and into the simulation tools used to design them. One of the key challenges in modeling simultaneous multi-contact interactions between articulated bodies lies in compactly describing the dynamics of the system with the contact constraints. The classical approach of resolving multi-contact interactions for articulated bodies is to solve a collection of unilateral contact constraints and bilateral joint constraints on free rigid bodies. However, this approach is computationally inefficient, and produces inaccurate robot motion, that needs ad-hoc post-correction. Moreover, smooth body geometry is typically discretized into polygon soups, resulting in a redundant description of contact constraints, particularly when contact occurs across a line, curve, or a surface patch, such as a coffee mug placed flat against a table. Discretizing the smooth geometric surfaces of contact into a set of contact points not only results in nonphysical jittery motion and poor simulator performance, but also results in an incorrect estimate of the contact force exerted by the robot on its environment, an essential sensory estimate for simulation of compliant manipulation strategies. There are two main goals that I set out to achieve in this work: (i) improve the computational speed of multi-contact resolution for articulated body systems without compromising physical correctness, and (ii) develop a theoretical understanding of the contact-constrained dynamics of such systems, that generalizes to non-polyhedral body geometry. To regulate the complexity of achieving the above goals, an overarching assumption in this work is that the system is composed of rigid articulated bodies, where rigidity is defined to imply that neither deformation nor interpenetration is admissible between the bodies in contact. The first contribution of this thesis towards the above goals is to develop and experimentally validate a new approach for multi-contact modeling in robotic systems. This Contact Space Resolution Model (CSR model) model addresses the problem of simultaneously enforcing multiple joint and contact constraints in articulated rigid body (ARB) systems. Building on the theory of operational space manipulator dynamics and control, it is shown that through the proper choice of a set of contact-space coordinates, the instantaneous dynamics of the ARB system can be partitioned into two dynamically-consistent complementary sub-spaces - the contact space and the null space. The projected dynamics in the contact space is governed by the effective mass and effective rotational inertia of the two bodies at the contact points, whereas the projected dynamics in the null-space is undisturbed by the contact forces. This latter property is a generalization of the principle of momentum conservation to ARB systems. A series of single- and two-point collision experiments conducted on free-hanging multi-link pendulums demonstrate that the CSR Model accurately predicts the post-collision system state. Moreover, for the first time, it is shown experimentally that the projection of system dynamics into the mutually complementary contact space and null space is a physically verifiable phenomenon. To address the problem of constraint over-redundancy introduced by the assumption that contact occurs across a finite set of points, a new Shared Contact Frame (SC-Frame) theory is developed. The SC-Frame theory extends the CSR model by a choice of contact-space coordinates that corresponds to the infinitesimal relative motion between two links in contact at a chosen frame. For a particular choice of frame, the possible obstructive contact forces (or wrenches in general) lie within a convex cone, which is normal to the contact-space acceleration. Frictional force and moment act in a symmetric, convex subset of the wrench space, as per Coulomb's dry friction model. An efficient SC-Frame Planar-Contact algorithm is developed for the particular case where the contact configuration between any two links is a set of co-planar contact patches. In this algorithm, the location of the SC-Frame is resolved simultaneously with the contact wrench, under the assumption that the frame lies at the center of pressure of the contact pressure distribution. As a result, the geometric location of the resolved frame origin is physically significant, and naturally captures impending transitions in the contact state between the bodies. Simulation results are presented with bodies modeled geometrically as unions of convex primitives. It is demonstrated that the method results in smooth motion, qualitatively correct contact state transitions, reliable contact force estimates and a significant improvement in computational speed over conventional multi-point contact solvers. Through the course of this research endeavour, I also worked on several other applied robotics projects ranging from the development of the underwater humanoid robot, Ocean One, to the conceptual prototyping of an underground drilling robot for gold mining. Due to their tangential nature to the subject at hand, these projects are not discussed in this thesis, but may be found in additional publications.
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.
