Collision of Two Mass Baton With Massive External Surfaces

Tavakoli, Ali; Gharib, Mohamed; Hürmüzlü, Yildirim

doi:10.1115/1.4006456

Cited by 8 publications

(3 citation statements)

References 16 publications

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“…In general, collision and impact laws for rigid body motion has been widely studied. A few references in this direction are [31,32,33,34].…”

Section: Related Workmentioning

confidence: 99%

Modeling and Prediction of Rigid Body Motion with Planar Non-Convex Contact

Xie

Chakraborty

2020

Preprint

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We present a principled method for motion prediction via dynamic simulation for rigid bodies in intermittent contact with each other where the contact region is a planar nonconvex contact patch. Such methods are useful in planning and control for robotic manipulation. The planar non-convex contact patch can either be a topologically connected set or disconnected set. Most work in rigid body dynamic simulation assume that the contact between objects is a point contact, which may not be valid in many applications. In this paper, by using the convex hull of the contact patch, we build on our recent work on simulating rigid bodies with convex contact patches for simulating motion of objects with planar non-convex contact patches. We formulate a discrete-time mixed complementarity problem where we solve the contact detection and integration of the equations of motion simultaneously. We solve for the equivalent contact point (ECP) and contact impulse of each contact patch simultaneously along with the state, i.e., configuration and velocity of the objects. We prove that although we are representing a patch contact by an equivalent point, our model for enforcing nonpenetration constraints ensure that there is no artificial penetration between the contacting rigid bodies. We provide empirical evidence to show that our method can seamlessly capture transition among different contact modes like patch contact, multiple or single point contact.

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“…In general, collision and impact laws for rigid body motion has been widely studied. A few references in this direction are [31,32,33,34].…”

Section: Related Workmentioning

confidence: 99%

Modeling and Prediction of Rigid Body Motion with Planar Non-Convex Contact

Xie

Chakraborty

2020

Preprint

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“…In the previous paper of the authors, 1 in the introductory part, the papers that deal with the study of the collisions with and without friction of two rigid solids 8–31 were mentioned, and also discussed the obtained results.…”

Section: Introductionmentioning

confidence: 99%

A new approach in the study of the collisions with friction using inertances

Nicolae

Stănescu

2018

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper presents a complete study on the collision with friction of one or two rigid bodies without constraints. The differential formula between the velocities and impulse uses the notion of inertance resulting from the theory of screws (Plückerian coordinates). One thus may calculate the kinematic and dynamic parameters, the velocities and the kinetic energies of the two rigid solids after the collision, and the variation of the kinetic energy. The calculation is detailed for the Newton, Poisson, and energetic variants of the coefficient of restitution. The variation of the kinematic and dynamic parameters in relation to the coefficient of restitution and coefficient of friction for all the three variants are presented and discussed. A numerical example highlights the theory.

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“…The collision without friction of two rigid bodies presented interest for the first author, he studying it with the aid of the plückerian 17 or screw 18–20 coordinates.…”

Section: Introductionmentioning

confidence: 99%

A new approach in the study of frictionless collisions using inertances

Nicolae

Stănescu

2014

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper presents a complete study on the collision without friction of two rigid bodies with and without bilateral constraints. Our goal is to obtain the same formulae for the impulse, the energy of the lost velocities, and the loss of kinetic energy as in the case of the collision of two particles. The study is performed with the aid of the notion of inertance. The dependence on the constraints is given by the inertances. The calculations are realized using the results from the theory of screws (plückerian coordinates). The obtained formulae are general, written in matrix form, and they may be easily used in any practical problem. We give the general algorithms for the collision of two rigid bodies with and without bilateral constraints. The equality of the coefficients of restitution in the Newton, Poisson, and energetic models is also proved. The numerical examples highlight the theory.

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Collision of Two Mass Baton With Massive External Surfaces

Cited by 8 publications

References 16 publications

Modeling and Prediction of Rigid Body Motion with Planar Non-Convex Contact

Modeling and Prediction of Rigid Body Motion with Planar Non-Convex Contact

A new approach in the study of the collisions with friction using inertances

A new approach in the study of frictionless collisions using inertances

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