Dynamics of Mechanical Systems Involving Multiple Frictional Contacts

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Title:	Dynamics of Mechanical Systems Involving Multiple Frictional Contacts
Authors:	Wang, Yin-Tien;Kumar, Vijay
Contributors:	淡江大學機械與機電工程學系
Keywords:	動態模擬;摩擦力;剛體碰撞;機械系統;Dynamic Simulation;Frictional Force;Rigid Body Collision;Mechanical System
Date:	1992-07
Issue Date:	2014-03-07 11:22:53 (UTC+8)
Publisher:	臺北縣泰山鄉：明志工業專科學校
Abstract:	There are several applications in robotics and manufacturing in which nominally rigid objects are subject to multiple frictional contacts with other objects. In most previous work, rigid body models have been used to analyze such systems. There are two fundamental problems with such an approach. Firstly, the use of frictional laws, such as Coulomb's law, introduce inconsistencies and ambiguities when used in conjunction with the principles of rigid body dynamics. Secondly, hypotheses traditionally used to model frictional impacts can lead to solutions which violate principles of energy conservation. In this paper these problems are explained with the help of examples. A new approach to the simulation of mechanical systems with multiple, frictional constraints is proposed which is free of such difficulties.
Relation:	八十一年技術與教學研討會論文集，頁頁[1]33-39
Appears in Collections:	[Graduate Institute & Department of Mechanical and Electro-Mechanical Engineering] Proceeding

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