Contact mechanics for dynamical systems: a comprehensive review

Flores, Paulo

doi:10.1007/s11044-021-09803-y

Cited by 51 publications

(15 citation statements)

References 431 publications

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“…Contact dynamics involve determining potential contact points between colliding bodies, evaluating contact-impact forces, and establishing the transition between different contact scenarios. The implementation of contact mechanics is one of the most challenging and complex problems in modeling and computation [23].…”

Section: Case 1: Static Equilibriummentioning

confidence: 99%

SoRoSim: A MATLAB Toolbox for Hybrid Rigid–Soft Robots Based on the Geometric Variable-Strain Approach

Mathew

Hmida

Armanini

et al. 2023

IEEE Robot. Automat. Mag.

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oft robotics has been a trending topic within the robotics community for almost two decades. However, available tools for the modeling and analysis of soft robots are still limited. This article introduces a user-friendly MATLAB toolbox, Soft Robot Simulator (SoRoSim), that integrates the geometric variable-strain (GVS) model of Cosserat rods to facilitate the static and dynamic analysis of soft, rigid, and hybrid robotic systems. We present a brief overview of the design and structure of the toolbox and validate it by comparing its results with those published in the literature. To highlight the toolbox's potential to efficiently model, simulate, optimize, and control various robotic systems, we demonstrate four sample applications. The demonstrated applications explore different actuator and external loading conditions of single-, branched-, open-, and closed-chain robotic systems. We think that the soft robotics research community will significantly benefit from the SoRoSim toolbox for a wide variety of applications.

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Section: Case 1: Static Equilibriummentioning

confidence: 99%

SoRoSim: A MATLAB Toolbox for Hybrid Rigid–Soft Robots Based on the Geometric Variable-Strain Approach

Mathew

Hmida

Armanini

et al. 2023

IEEE Robot. Automat. Mag.

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“…In order to better cover the energy dissipation and model the actual cases, dampers were added into the spring-based contact model for more general applications. The Kelvin approach was the first to combine a linear damper with a linear spring in the contact model [172]:…”

Section: Elastic and Inelastic Contact (W/o Or W/ Dampers)mentioning

confidence: 99%

Micromechanical vibro-impact systems: a review

Tsai

2023

J. Micromech. Microeng.

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Spurred by the invention of the tapping-mode atomic force microscopy three decades ago, various micromechanical structures and systems that utilize parts with mechanical impact have been proposed and developed since then. While sharing most of the dynamical characteristics with macroscopic vibro-impact systems and benefiting from extensive theories developed, microscale counterparts possess higher percentage of surface force, higher resonance frequency and Q, and more prominent material and structural nonlinearities, all of which lead to unique features and in turn useful applications not seen in macroscopic vibro-impact systems. This paper will first present the basics of vibro-impact systems and techniques used for analyzing their nonlinear behaviors and then review the contact force modeling with an emphasis in microscale and numerical analysis tools. Finally, various applications of microscale vibro-impact systems will be reviewed and discussed. This review aims to provide a comprehensive picture of MEMS vibro-impact systems and inspire more innovative applications that take full advantage of the beauty of nonlinear vibro-impact dynamics in the microscale.

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“…There are two main classes of methods to simulate the contact mechanics: complaint force-based approaches and the nonsmooth methods. 1 The widely used complaint force-based methods usually smooth the contact law by introducing artificial penalty factors to construct different compliant normal contact forces 2 and friction forces. 3 For these methods, no extra variables are introduced and the degree of freedom of the system's dynamic equations would not increase.…”

Section: Introductionmentioning

confidence: 99%

A nonsmooth method for spatial frictional contact dynamics of flexible multibody systems with large deformation

Wang

Tian

2022

Numerical Meth Engineering

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A nonsmooth contact dynamics computation methodology for spatial frictional contact dynamics of flexible multibody systems with large deformation is presented. The contact and friction conditions between contact bodies are formulated as a cone complementary problem (CCP). Based on the mortar discretization method, nonsmooth frictional contact formulations for surface‐to‐surface and beam‐to‐beam contact problems are derived. These formulations can be used to study a wide range of contact problems between three‐dimensional bodies, thin plates and beams. The nonsmooth multibody dynamics equations are solved by using the generalized‐α$$ \alpha $$ method. The CCP is solved by using the accelerated projected gradient descend (APGD) algorithm in each Newton's iteration. Finally, six numerical examples are provided to validate the proposed computation methodology.

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Contact mechanics for dynamical systems: a comprehensive review

Cited by 51 publications

References 431 publications

SoRoSim: A MATLAB Toolbox for Hybrid Rigid–Soft Robots Based on the Geometric Variable-Strain Approach

SoRoSim: A MATLAB Toolbox for Hybrid Rigid–Soft Robots Based on the Geometric Variable-Strain Approach

Micromechanical vibro-impact systems: a review

A nonsmooth method for spatial frictional contact dynamics of flexible multibody systems with large deformation

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