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Communication Dans Un Congrès Année : 1992

Unilaterality and dry friction in the dynamics of rigid body collections

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Résumé

Dynamical evolution problems concerning collections of rigid bodies are nonsmooth in three respects :
  • the mutual impenetrability of the considered bodies or their possible confinement by external boundaries with given motion impose on the configuration parameters $q = (q_1 , \ldots , q_n)$, to remain in a region with corners and edges,
  • in the event of a collision, velocity jumps are expected,
  • the law of Coulomb, that we shall use for representing dry friction at possible contact points, consists of a nonsmooth relation between local velocities and contact forces.
Methods from "Nonsmooth Mechanics" [1] [2] may be used in formulating these problems. This generates computational algorithms which face nonsmoothness without resorting to any technique of regularization and prove efficient enough to treat the motion of large collections of rigid bodies by using only a microcomputer.
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Dates et versions

hal-01863710 , version 1 (29-08-2018)

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  • HAL Id : hal-01863710 , version 1

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Michel Jean, Jean Jacques Moreau. Unilaterality and dry friction in the dynamics of rigid body collections. 1st Contact Mechanics International Symposium, 1992, Lausanne, Switzerland. pp.31-48. ⟨hal-01863710⟩
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