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Título:
Modeling of Spherical RIgid Bodies with Sliding Friction Contact Effects
Autor/es:
FEDERICO CAVALIERI; ELIANA SANCHEZ; ALEJANDRO COSIMO; OLIVIER BRULS; ALBERTO CARDONA
Lugar:
Innsbruck
Reunión:
Simposio; 2020 Online Symposium on Flexible Multibody System Dynamics; 2020
Resumen:
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-α 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 bearing joints, which can be modeled by a flexible cage and rigid balls. The robustness and the 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.