Simulation of Sliding Friction of Spherical Rigid Bodies Subject to Multiple Impact Collisions

FEDERICO CAVALIERI; ALEJANDRO COSIMO; ELIANA SANCHEZ; OLIVIER BRULS; ALBERTO CARDONA

Multibody Mechatronic Systems. MuSMe 2021. Mechanisms and Machine Science

Springer

Año: 2021; p. 151 - 158

This work investigates the dynamics of spherical rigid bodies subject to multiple impact collisions and sliding friction. The contact problem is solved with a mixed dual formulation based on an augmented Lagrangian technique. The equations of motion and the multiple impact collisions are solved in the frame of the nonsmooth generalized-α time integrator scheme. In order to consider the mechanical and geometrical properties of the spheres, a rigid body formulation with translational and rotational degrees of freedom is implemented. Finally, in order to assess the numerical performance of the proposed methodology, a multiple impact collisions motion of three spheres over a rigid plane is studied.