Analysis of body collisions against obstacles

Abstract

Collisions between solid objects in machine building, technology and everyday life are widespread. However, analysis of the movement of solid objects by analytical methods is difficult even in the case of plane motion. The main problem arises when the collision process occurs with several successive impulse points. Then the points of the collision contact move along the surface of the object. Therefore, the equation of the boundary conditions must be solved. In these cases, the only sensible option is to perform experimental investigations or simulations by computer programs. In the first part of this work, 3DOF's solid body movement is analysed in a vertical or horizontal plane with collisions against the walls of a fixed or moving endless mass container. Different body shapes with convex and concave sections are considered. Graphical analysis of displacements, velocities and accelerations is given. Opportunities for object orientation or transport on the bottom edge of the container are displayed. The second part deals with the movement of several solid bodies in a closed or open container. Opportunities and problems in the analysis of many DOF systems are shown. The third part of the thesis contains simple movement experiments that give good accuracy to theoretical modelling results. The difference can be explained by the properties of real objects, such as the change of the slip friction coefficient in the impact. The work results can be used in machine building and robot technology.