Contact-impact events with friction in multibody dynamics: Back to basics

Flores, Paulo; Ambrósio, Jorge; Lankarani, Hamid M.

doi:10.1016/j.mechmachtheory.2023.105305

Cited by 41 publications

(1 citation statement)

References 131 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This gives rise to relatively complex systems of equations that require special solvers. It is also possible to simulate realistic behaviors in these systems due to recent research on multibody systems with friction [29,34,44,53], clearances [18,19,52,67], events [12,13], and even a combination of these [20]. Such behaviors further add to the complexity of the resulting system of equations.…”

Section: Introductionmentioning

confidence: 99%

Computation of Direct Sensitivities of Spatial Multibody Systems With Joint Friction

Verulkar

Sandu

Dopico

et al. 2022

Journal of Computational and Nonlinear Dynamics

View full text Add to dashboard Cite

Friction exists in most mechanical systems and may have a major influence on the dynamic performance of the system. The incorporation of friction in dynamic systems has been a subject of active research for several years owing to its high non-linearity and its dependence on several parameters. Consequently, optimization of dynamic systems with friction becomes a challenging task. Gradient-based optimization of dynamical systems is a prominent technique for optimal design and requires the computation of model sensitivities with respect to the design parameters. The novel contribution of this paper is the derivation of the analytical methodology for the computation of direct sensitivities for smooth multibody systems with joint friction using the Lagrangian index-1 formulation. System dynamics have been computed using two different friction models; the Brown and McPhee, and the Gonthier et al. model. The methodology proposed to obtain model sensitivities has also been validated using the complex finite difference method. A case study has been conducted on a spatial multibody system to observe the effect of friction on the dynamics and model sensitivities, compare sensitivities with respect to different parameters and demonstrate the numerical and validation aspects. Since design parameters can have very different magnitudes and units, the sensitivities have been scaled with the parameters for comparison. Finally, a discussion has been presented on the interpretation of the case study results. Due to incorporation of joint friction, ‘jumps’ or discontinuities are observed in the model sensitivities akin to those observed for hybrid dynamical systems.

show abstract