Analysis of Rigid-Body Dynamic Models for Simulation of Systems With Frictional Contacts

[+] Author and Article Information
P. Song, P. Kraus, V. Kumar

GRASP Laboratory, University of Pennsylvania, 3401 Walnut Street, Philadelphia, PA 19104

P. Dupont

Department of Aerospace and Mechanical Engineering, Boston University, Boston, MA 02215 e-mail: pierre@bu.edu

J. Appl. Mech 68(1), 118-128 (Jun 16, 2000) (11 pages) doi:10.1115/1.1331060 History: Received June 23, 1999; Revised June 16, 2000
Copyright © 2001 by ASME
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A simple model of contact compliance
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Planar rigid body in contact with a rough surface
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Case 1: The LCP has a unique solution and the compliant contact model solution converges to the rigid-body model solution as the perturbation parameter ε goes to 0
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Case 2: The LCP has two solutions, maintaining contact (unstable) and separation (stable). If the compliant model solution is started with the unstable maintaining contact solution, it quickly converges to the separation solution (stable).
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A smooth, nonlinear friction law with two parameters γ, a characteristic speed, and μ, the coefficient of friction
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Results with the smooth nonlinear friction law (γ=10−3). The transition from reverse sliding to rolling to forward sliding at t=0.205 sec is characterized by a smooth variation of contact forces.




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