Frictional Impact Analysis in Open-Loop Multibody Mechanical Systems

摘要: Analysis of impact problems in the presence any tangential component velocity requires a friction model capable correct detection modes. This paper presents formulation for analysis with open-loop multibody mechanical systems. The recognizes mode impact; i.e., sliding, sticking, and reverse sliding. Poisson’s hypothesis is used definition coefficient restitution, thus energy gains inherent use Newton’s are avoided. developed by using canonical form system equations motion joint coordinates momenta. momentum-balance solved change momenta Routh’s graphical method. jumps calculated balancing accumulated during process. cases classified based on pre-impact positions velocities, inertia properties impacting systems, expressions normal impulse derived each case. classical problem falling rod ground (a single object impact) verified. Another double pendulum striking also presented. results obtained confirms that gain can be avoided considering instead hypothesis.