A contact force model considering constant external forces for impact analysis in multibody dynamics

Shen, Yinhua; Xiang, Dong; Wang, Xiang; Jiang, Li; Wei, Yaozhong

doi:10.1007/s11044-018-09638-0

Cited by 37 publications

(9 citation statements)

References 33 publications

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“…Furthermore, the objects' curvatures at any contact point is easily utilized in the normal force model proposed by Flores et al The contact model can be interchanged with other models which rely on curvature information to describe the interaction between the objects, c.f. [42,43,44,45]. Tait-Bryan angles are used to parameterize the objects' orientations; however, the collision detection problem is independent of the specific parameterization and requires only the representation of the normal direction in the body-fixed frame which is used to define the normal parameterization.…”

Section: Discussionmentioning

confidence: 99%

“…The model proposed by Flores et al [41] is used to describe the interaction force in normal direction at every contact point since it requires curvature information like the Hertz contact and at the same time introduces dissipation. For discussions regarding some of the limitations of this model we refer to [42,43,44,45]. The normal force model is combined with a tanh-approximation of Coulomb friction to allow for combined slipping and rolling of the object.…”

Section: Case Studymentioning

confidence: 99%

“…This yields the behavior of a non-linear spring which, depending on the principal curvatures of the two surfaces at the points of maximum penetration 2 , generates a restoring force which opposes the penetration of the undeformed object geometries. There are numerous extensions of this model where both dissipative effects due to local material deformation [40,41,42,43,44,45,46] 3 and forces due to friction [49,50,51,52,53] are added. All these approaches require the common normal and the maximum penetration depth to determine the interaction forces.…”

Section: Introductionmentioning

confidence: 99%

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The normal parameterization and its application to collision detection

Römer

Fidlin

Seemann

2020

Mechanism and Machine Theory

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Collision detection is a central task in the simulation of multibody systems. Depending on the description of the geometry, there are many efficient algorithms to address this need. A widespread approach is the common normal concept: potential contact points on opposing surfaces have antiparallel normal vectors. However, this approach leads to implicit equations that require iterative solutions when the geometries are described by implicit functions or the common parameterizations. We introduce the normal parameterization to describe the boundary of a strictly convex object as a function of the orientation of its normal vector. This parameterization depends on a scalar function, the so-called generating potential from which all properties are derived: points on the boundary, continuity/differentiability of the boundary, curvature, offset curves or surfaces. An explicit solution for collisions with a planar counterpart is derived and four iterative algorithms for collision detection between two arbitrary objects with the normal parametrization are compared. The application of this approach for collision detection in multibody models is illustrated in a case study with two ellipsoids and several planes.

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Section: Discussionmentioning

confidence: 99%

Section: Case Studymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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The normal parameterization and its application to collision detection

Römer

Fidlin

Seemann

2020

Mechanism and Machine Theory

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“…The dynamic vehicle model considering the internal forces, energy or momentum in the system [3], [28], [29] is built based on the assumptions in Section II. Thus, the constraints should include the steering angle, change ratio of the steering angle, tire lateral slip angle, and ground attachment conditions.…”

Section: Remark 3 Setting the Stability Constraintsmentioning

confidence: 99%

Path Tracking Control Based on Model Predictive Control With Adaptive Preview Characteristics and Speed-Assisted Constraint

2020

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As one of the research focuses in the field of intelligent driving, improving the performance of path tracking has become a goal for many scholars. Among many path tracking control algorithms, model predictive control (MPC) controllers are widely used due to their excellent control performance. However, the traditional MPC control has shortcomings because it does not consider the particularity of the driving car with preview driving characteristics, i.e., it is only directly controlling from the vehicle state. To fully retain the advantages of the MPC controller and simultaneously exert the preview characteristic of the intelligent vehicle to improve the path tracking performance, this work proposes a model predictive control with adaptive preview characteristics and an algorithm of longitudinal vehicle speed-assisted constraint for the path tracking algorithm. The algorithm mainly consists of two parts: The MPC controller with adaptive preview characteristic is proposed based on the lateral error and target curvature; The longitudinal vehicle speed-assisted constraint algorithm based on the largest ideal lateral acceleration becomes a supplementary part of the algorithm as a supplementary constraint of the MPC controller. Series of simulations based on the Simulink/CARSIM software individually verified the model predictive control with adaptive preview characteristics and an algorithm of longitudinal vehicle speed-assisted constraint for the path tracking algorithm. The proposed adaptive preview strategy is suitable for the path tracking algorithm controlled by the MPC controller and improves the path tracking performance. INDEX TERMS path tracking, model predictive control (MPC), adaptive preview characteristics, assisted constraint

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“…Some undesired working phenomena of the cam can emerge during the transmission such as the energy of dissipation(Li et al , 2019), thus different optimization methods were proposed to solve dynamical problems in designing the shape of cam spline curve (Neto, 2017; Camara and Han, 2002; Hua et al , 2005; Chang et al , 2009). A general technique to reduce the impact of transmission was to distribute the contact force acting on the follower and reduce the friction of the cam profile (Xu et al , 2016; Shen et al , 2018). The design of the ideal motion profile was transformed into an algebraic problem with the aim of the Hertz contact model (Yang et al , 2019).…”

Section: Introductionmentioning

confidence: 99%

Analysis of assembly defects in the cam curved groove mechanism

Lan

Fan

2020

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Purpose This paper aims to propose an elementary approach toward the identification of assembly defects of a cam curved groove mechanism. Design/methodology/approach A numerical analysis method for identifying the assembly defects of the cam curved groove mechanism is proposed by resorting to Hertz contact theory. A general mathematical model is established to analyze the kinematic and dynamic characteristics with an interference fit between the main roller and cam curved groove, including the contact points of the external and internal ring. Findings The analysis method of the contact point characteristics of the cam curved groove mechanism is given in this paper, and the kinematic and dynamic characteristics of the main roller can be analyzed. The numerical examples presented in this paper are implemented in MATLAB, feasibility and validity of the above algorithm are verified by the finite element method. Originality/value Regarding the defects of the interference fit, the findings of this paper can serve as a reference for researchers in reducing the defects in the design process of the cam mechanism.

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A contact force model considering constant external forces for impact analysis in multibody dynamics

Cited by 37 publications

References 33 publications

The normal parameterization and its application to collision detection

The normal parameterization and its application to collision detection

Path Tracking Control Based on Model Predictive Control With Adaptive Preview Characteristics and Speed-Assisted Constraint

Analysis of assembly defects in the cam curved groove mechanism

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