Literature survey of contact dynamics modelling

Literature survey of contact dynamics modelling

Literature survey of contact dynamics modelling

G.Gilardi,I.Sharf *

Department of Mechanical Engineering,University of Victoria,P.O.Box 3055,Victoria,BC,Canada V8W 3P6

Received 31January 2001;accepted 18March 2002

Abstract

Impact is a complex phenomenon that occurs when two or more bodies undergo a collision.This phenomenon is important in many di?erent areas ––machine design,robotics,multi-body analysis are just a few examples.The purpose of this manuscript is to provide an overview of the state of the art on impact and contact modelling methodologies,taking into account their di?erent aspects,speci?cally,the energy loss,the in?uence of the friction model,solution approaches,the multi-contact problem and the experimental veri?cation.The paper is intended to provide a review of results presented in literature and some additional insights into existing models,their interrelationship and the use of these models for impact/contact sce-narios encountered in space robotic applications.

Ó2002Elsevier Science Ltd.All rights reserved.

1.Introduction

The purpose of this paper is to provide an introduction and an overview of the state of the art on the subject of impact and contact dynamics modeling.Impact is a complex physical phe-nomenon,which occurs when two or more bodies collide with each other [1].Characteristics of impact are very brief duration,high force levels reached,rapid dissipation of energy and large accelerations and decelerations present.These facts must be considered during the design and analysis of any mechanical system [2].Furthermore,during impact,the system presents discon-tinuities in geometry and some material properties may be modi?ed by the impact itself.

Contact is a more ambiguous term although it is frequently used interchangeably with impact.In our work,we use this term to describe situations where two or more bodies come in touch with each other at some locations.Inherently,contact implies a continuous process which takes place over a ?nite time.

*Corresponding author.Fax:+1-514-398-7365.

0094-114X/02/$-see front matter Ó2002Elsevier Science Ltd.All rights reserved.

PII:

S0094-114X(02)00045-9Mechanism and Machine Theory 37(2002)

1213–1239

百度搜索“77cn”或“免费范文网”即可找到本站免费阅读全部范文。收藏本站方便下次阅读，免费范文网，提供经典小说教育文库Literature survey of contact dynamics modelling在线全文阅读。