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

Content Provider	Springer Nature Link
Author	Brogliato, Bernard Zhang, Hongjian Liu, Caishan
Copyright Year	2012
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.
Starting Page	351
Ending Page	382
Page Count	32
File Format	PDF
ISSN	13845640
Journal	Multibody System Dynamics
Volume Number	27
Issue Number	3
e-ISSN	1573272X
Language	English
Publisher	Springer Netherlands
Publisher Date	2012-01-24
Publisher Place	Dordrecht
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Multiple impacts Rocking block Kinetic angle Kinematic restitution law Housner model Chains of balls Moreau’s impact law Coulomb’s friction Optimization Vibration, Dynamical Systems, Control Mechanical Engineering Automotive Engineering Electrical Engineering
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Mechanical Engineering Aerospace Engineering Modeling and Simulation Computer Science Applications

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