A method for the numerical integration of mechanical systems with unilateral constraints: study of impact in multibody systems

✍ Scribed by Vojin Drenovac

• Publisher: Elsevier Science
• Year: 1987
• Tongue: English
• Weight: 452 KB
• Volume: 29
• Category: Article
• ISSN: 0378-4754
• DOI: 10.1016/0378-4754(87)90076-0

✦ Synopsis

A&tract: Study of mechanical systans with unilateral constraints is associated with forming two systems of equations, a system of differential equations 4 a system of algebraical equations. Differential equations are used to describe the lrotion until the nmentof impact, i.e. until activation of unilateral constraints. Algebraic equations are used to describe the -ct. During nlrmerical integration, transition fran one system to another occurs at the pints of *ct. hren in simple problans, forming algebraic equations represents a cunplex task.

This paper presents a method, the so-called Reduction Methcd, which provides for the analysis of these systems without forming the algebraic equations. They are substituted by a new system which is easily derived fran equations of na>tion. Compared to ITH~XYIS based on the classical impact theory, using Reduction Methcd,velocities after the impact are easily canplted rwardless of the degrees of freedan.