Literature survey of contact dynamics modelling

doi:10.1016/S0094-114X(02)00045-9

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Literature survey of contact dynamics modelling

Journal Article•DOI•

Literature survey of contact dynamics modelling

Gabriele Gilardi¹, Inna Sharf¹•Institutions (1)

University of Victoria¹

01 Oct 2002-Mechanism and Machine Theory (Pergamon)-Vol. 37, Iss: 10, pp 1213-1239

TL;DR: An overview of the state of the art on impact and contact modelling methodologies, taking into account their different aspects, specifically, the energy loss, the influence of the friction model, solution approaches, the multi-contact problem and the experimental verification is provided.

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About: This article is published in Mechanism and Machine Theory.The article was published on 2002-10-01. It has received 690 citations till now. The article focuses on the topics: Literature survey.

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Book•

Rigid Body Dynamics Algorithms

[...]

Roy Featherstone

26 Nov 2007

TL;DR: Rigid Body Dynamics Algorithms presents the subject of computational rigid-body dynamics through the medium of spatial 6D vector notation to facilitate the implementation of dynamics algorithms on a computer: shorter, simpler code that is easier to write, understand and debug, with no loss of efficiency.

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Abstract: Rigid Body Dynamics Algorithms presents the subject of computational rigid-body dynamics through the medium of spatial 6D vector notation. It explains how to model a rigid-body system and how to analyze it, and it presents the most comprehensive collection of the best rigid-bodydynamics algorithms to be found in a single source. The use of spatial vector notation greatly reduces the volume of algebra which allows systems to be described using fewer equations and fewer quantities. It also allows problems to be solved in fewer steps, and solutions to be expressed more succinctly. In addition algorithms are explained simply and clearly, and are expressed in a compact form. The use of spatial vector notation facilitates the implementation of dynamics algorithms on a computer: shorter, simpler code that is easier to write, understand and debug, with no loss of efficiency.

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1,057 citations

Cites methods from "Literature survey of contact dynami..."

...For an introduction to the literature, try the review articles by Gilardi and Sharf (Gilardi and Sharf, 2002) and Stewart (Stewart, 2000)....
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Journal Article•DOI•

A review of space robotics technologies for on-orbit servicing

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Angel Flores-Abad¹, Ou Ma¹, Khanh Pham², Steve Ulrich³•Institutions (3)

New Mexico State University¹, Air Force Research Laboratory², Carleton University³

01 Jul 2014-Progress in Aerospace Sciences

TL;DR: A literature review of the recently developed technologies related to the kinematics, dynamics, control and verification of space robotic systems for manned and unmanned on-orbit servicing missions is provided in this article.

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825 citations

Cites background from "Literature survey of contact dynami..."

...A survey of general contact dynamics modeling techniques can be found in [94]....
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Journal Article•DOI•

Compliant contact force models in multibody dynamics : evolution of the Hertz contact theory

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Margarida Machado¹, Pedro Moreira¹, Paulo Flores¹, Hamid M. Lankarani²•Institutions (2)

University of Minho¹, Wichita State University²

01 Jul 2012-Mechanism and Machine Theory

TL;DR: In this paper, the main issues associated with the most common compliant contact force models of this type are analyzed in terms of the dynamic simulations of multibody systems, which allow for the comparison of the similarities and differences among the models considered.

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474 citations

Journal Article•DOI•

Touchdown of the Hayabusa spacecraft at the Muses Sea on Itokawa.

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Hajime Yano¹, Takashi Kubota¹, Hideaki Miyamoto², Tatsuaki Okada¹, Daniel J. Scheeres³, Y. Takagi, Kazuya Yoshida⁴, Masanao Abe¹, Shinsuke Abe⁵, Olivier S. Barnouin-Jha⁶, Akira Fujiwara¹, Sunao Hasegawa¹, Tatsuaki Hashimoto¹, Masateru Ishiguro⁷, M. Kato¹, Jun'ichiro Kawaguchi¹, T. Mukai⁵, Jun Saito¹, Sho Sasaki, Makoto Yoshikawa¹ - Show less +16 more•Institutions (7)

Japan Aerospace Exploration Agency¹, University of Tokyo², University of Michigan³, Tohoku University⁴, Planetary Science Institute⁵, Johns Hopkins University Applied Physics Laboratory⁶, Seoul National University⁷

02 Jun 2006-Science

TL;DR: Initial findings about geological features, surface condition, regolith grain size, compositional variation, and constraints on the physical properties of this site are reported by using both scientific and housekeeping data during the descent sequence of the first touchdown.

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Abstract: After global observations of asteroid 25143 Itokawa by the Hayabusa spacecraft, we selected the smooth terrain of the Muses Sea for two touchdowns carried out on 19 and 25 November 2005 UTC for the first asteroid sample collection with an impact sampling mechanism. Here, we report initial findings about geological features, surface condition, regolith grain size, compositional variation, and constraints on the physical properties of this site by using both scientific and housekeeping data during the descent sequence of the first touchdown. Close-up images revealed the first touchdown site as a regolith field densely filled with size-sorted, millimeter- to centimeter-sized grains.

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378 citations

Journal Article•DOI•

On the continuous contact force models for soft materials in multibody dynamics

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Paulo Flores¹, Margarida Machado¹, Miguel T. Silva², Jorge Martins²•Institutions (2)

University of Minho¹, Technical University of Lisbon²

01 Mar 2011-Multibody System Dynamics

TL;DR: In this article, a general and comprehensive analysis on the continuous contact force models for soft materials in multibody dynamics is presented throughout this work, and the force models are developed based on the foundation of the Hertz law together with a hysteresis damping parameter that accounts for the energy dissipation during the contact process.

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Abstract: A general and comprehensive analysis on the continuous contact force models for soft materials in multibody dynamics is presented throughout this work. The force models are developed based on the foundation of the Hertz law together with a hysteresis damping parameter that accounts for the energy dissipation during the contact process. In a simple way, these contact force models are based on the analysis and development of three main issues: (i) the dissipated energy associated with the coefficient of restitution that includes the balance of kinetic energy and the conservation of the linear momentum between the initial and final instant of contact; (ii) the stored elastic energy, representing part of initial kinetic energy, which is evaluated as the work done by the contact force developed during the contact process; (iii) the dissipated energy due to internal damping, which is evaluated by modeling the contact process as a single degree-of- freedom system to obtain a hysteresis damping factor. This factor takes into account the geometrical and material properties, as well as the kinematic characteristics of the contacting bodies. This approach has the great merit that can be used for contact problems involving materials with low or moderate values of coefficient of restitution and, therefore, accommodate high amount of energy dissipation. In addition, the resulting contact force model is suitable to be included into the equations of motion of a multibody system and contributes to their stable numerical resolution. A demonstrative example of application is used to provide the results that support the analysis and discussion of procedures and methodologies described in this work.

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314 citations

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References

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Book•

A treatise on the analytical dynamics of particles and rigid bodies

[...]

Edmund Taylor Whittaker

01 Jan 1927

TL;DR: In this article, a comprehensive account of analytical dynamics is given, starting from first principles with kinematics before moving to equations of motion and specific and explicit methods for solving them, with chapters devoted to particle dyanmics, rigid bodies, vibration and dissipative systems.

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Abstract: This classic book is a encylopaedic and comprehensive account of the classical theory of analytical dynamics. The treatment is rigorous yet readable, starting from first principles with kinematics before moving to equations of motion and specific and explicit methods for solving them, with chapters devoted to particle dyanmics, rigid bodies, vibration, and dissipative systems. Hamilton's principle is introduced and then applied to dynamical systems, including three-body systems and celestial mechanics. Very many examples and exercisies are supplied throughout.

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2,112 citations

Book•

Dynamics : theory and applications

[...]

Thomas R. Kane, David A. Levinson

01 Jan 1985

1,401 citations

"Literature survey of contact dynami..." refers methods or result in this paper

...In many simple cases, the two approaches lead to the same result, as shown by Wang and Mason [10], while in other cases, they can produce inconsistent results, as shown by Kane and Levinson [18] and Stronge [14]....
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...According to the work-energy principle, 2 the work done by FC must be equal to the change in the kinetic energy, DT [18], so that:...
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Journal Article•DOI•

Coefficient of Restitution Interpreted as Damping in Vibroimpact

[...]

K. H. Hunt¹, F. R. E. Crossley²•Institutions (2)

Monash University, Clayton campus¹, University of Massachusetts Amherst²

01 Jun 1975-Journal of Applied Mechanics

TL;DR: In this paper, the Kelvin-Voigt model is shown to be logically untenable, for it indicates that the bodies must exert tension on one another just before separating, and it denotes that the damping energy loss is proportional to the square of the impacting velocity, instead of to its cube.

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Abstract: During impact the relative motion of two bodies is often taken to be simply represented as half of a damped sine wave, according to the Kelvin-Voigt model. This is shown to be logically untenable, for it indicates that the bodies must exert tension on one another just before separating. Furthermore, it denotes that the damping energy loss is proportional to the square of the impacting velocity, instead of to its cube, as can be deduced from Goldsmith's work. A damping term $\lambda x^n \dot{x} $ is here introduced; for a sphere impacting a plate Hertz gives $n = 3/2$. The Kelvin-Voigt model is shown to be approximated as a special case deducible from this law, and applicable when impacts are absent. Physical experiments have confirmed this postulate.

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1,390 citations

"Literature survey of contact dynami..." refers background or methods in this paper

...For the central impact of two bodies Hunt and Crossley [32], Lankarani and Nikravesh [34], and Marhefka and Orin [35] established: e ¼ 1 a _d0; a ¼ 2b 3k ð28Þ An important aspect of this model is that damping depends on the indentation....
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...In the following, we summarize three existing contact force models, including the initial model of Hertz [30] and the non-linear damping model of Hunt and Crossley [32]....
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...For contact damping, one can use the energy-balance to find a relationship between contact damping and the coefficient of restitution [32,34,35], although, inevitably, such a result is limited by the accuracy of the coefficient of restitution....
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...Non-linear damping To overcome the problems of the spring-dashpot model and to retain the advantages of the Hertz’s model, an alternative model for energy dissipation was introduced by Hunt and Crossley [32]....
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...Fn 1⁄4 bd _ d þ kd ð27Þ where it is standard to set p 1⁄4 n and q 1⁄4 1 [32,34,35]....
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Book•

Impact: the theory and physical behaviour of colliding solids.

[...]

Werner Goldsmith, J. T. Frasier¹•Institutions (1)

Brown University¹

01 Jan 1960

1,278 citations

"Literature survey of contact dynami..." refers background in this paper

...Spring-dashpot model The impact is schematically represented with a linear damper (dashpot) for the dissipation of energy in parallel with a linear spring for the elastic behavior [9]....
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...The coefficient of restitution depends on many elements, such as the geometry of the bodies in contact, the approach velocity, the material properties, the duration of contact and, possibly, friction [9]....
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...The principal and most general study of this subject is due to Goldsmith [9], who measured the displacements of the impacting bodies, the duration of impact, the geometry of the crater and the stress waves generated by the impact....
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...Usually, bodies with a low ratio of surface area to volume (like spheres) present this kind of behavior [2,9]....
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...As we discuss in Section 4, velocity dependence of e has been demonstrated experimentally [9]....
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Book•

Impact on Composite Structures

[...]

Serge Abrate¹•Institutions (1)

Southern Illinois University Carbondale¹

01 Apr 1998

TL;DR: In this article, the authors present contact laws, contact dynamics, low velocity impact damage, residual properties, and ballistic impact on sandwich structures, as well as the impact on the sandwich structure.

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Abstract: 1. Introduction 2. Contact laws 3. Impact dynamics 4. Low velocity impact damage 5. Damage prediction 6. Residual properties 7. Ballistic impact 8. Repairs 9. Impact on sandwich structures References.

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1,146 citations