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

doi:10.1007/s11044-012-9301-3

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	Analysis of a generalized kinematic impact law for multibody-multicontact systems, with application to the planar rocking block and chains of balls
	Brogliato, Bernard ; Zhang, Hongjian ; Liu, Caishan
刊名	多体系统动力学
	2012
关键词	Multiple impacts Rocking block Kinetic angle Kinematic restitution law Housner model Chains of balls Moreau&apos Coulomb&apos FRICTIONLESS MULTIPLE IMPACTS MECHANICAL SYSTEMS RIGID-BLOCK DYNAMICS SIMULATION MOTION BODIES s impact law s friction
DOI	10.1007/s11044-012-9301-3
英文摘要	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.; Mechanics; SCI(E); EI; 0; ARTICLE; 3; 351-382; 27
语种	英语
内容类型	期刊论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/234092]
专题	工学院
推荐引用方式 GB/T 7714	Brogliato, Bernard,Zhang, Hongjian,Liu, Caishan. Analysis of a generalized kinematic impact law for multibody-multicontact systems, with application to the planar rocking block and chains of balls[J]. 多体系统动力学,2012.
APA	Brogliato, Bernard,Zhang, Hongjian,&Liu, Caishan.(2012).Analysis of a generalized kinematic impact law for multibody-multicontact systems, with application to the planar rocking block and chains of balls.多体系统动力学.
MLA	Brogliato, Bernard,et al."Analysis of a generalized kinematic impact law for multibody-multicontact systems, with application to the planar rocking block and chains of balls".多体系统动力学 (2012).