Dynamic Multi-Rigid-Body Systems with Concurrent Distributed Contacts: Theory and Examples
- Sandia National Laboratories
Consider a system of rigid bodies with multiple concurrent contacts. The multi-rigid-body contact problem is to predict the accelerations of the bodies and the normal friction loads acting at the contacts. This paper presents theoretical results for the multi-rigid-body contact problem under the assumptions that one or more contacts occur over locally planar, finite regions and that friction forces are consistent with the maximum work inequality. Existence and uniqueness results are presented for this problem under mild assumptions on the system inputs. In addition, the performance of two different time-stepping methods for integrating the dynamics are compared on two simple multi-body systems.
- Research Organization:
- Sandia National Labs., Albuquerque, NM (US); Sandia National Labs., Livermore, CA (US)
- Sponsoring Organization:
- US Department of Energy (US)
- DOE Contract Number:
- AC04-94AL85000
- OSTI ID:
- 780283
- Report Number(s):
- SAND2001-0076
- Country of Publication:
- United States
- Language:
- English
Similar Records
Large-scale parallel multibody dynamics with frictional contact on the GPU.
Large-scale parallel multibody dynamics with frictional contact on the graphical processing unit.