Modeling of Spherical Rigid Bodies With Sliding Friction Effects

SÁNCHEZ ELIANA; ALBERTO CARDONA; COSIMO, ALEJANDRO; CAVALIERI FEDERICO J.; BRÜLS OLIVIER

Innsbruck

Simposio; Online symposium on flexible multibody system dynamics; 2020

Universität Innsbruck

This work investigates the dynamics of spherical rigid bodies under the effects of sliding friction. The equations of motion are integrated using a nonsmooth generalized-alpha time integration scheme valid for flexible and rigid bodies. Then, the frictional contact problem is formulated using a mixed dual approach based on an augmented Lagrangian technique and a Coulomb friction law. The spherical rigid element presented in this work could be used in more general applications as in ball bearingjoints, which can be modeled by a flexible cage and rigid balls. The robustness andthe performance of the proposed algorithm are shown by solving the motion of two spheres in contact with a rigid plane and where their mutual impact is also considered. Additionally, the contact between two spheres linked with a flexible spring is presented to show the applicability of this methodology to mechanisms composed by flexible and rigid elements.