Simulation of spherical rigid bodies subject to friction with multiple impacts

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

Lisboa

Congreso; ECCOMAS Thematic Conference on Multibody Dynamics; 2023

Instituto Superior Técnico, University of Lisbon

This work presents an extension of the nonsmooth generalized alpha time integration scheme applied to multi-impact collisions including Coulomb´s friction. The classical Newton impact law is used to extend the applicability of multiple impact problems with friction in spherical bodies assuming instantaneous local impact events. The geometrical properties of the spheres are described by a rigid body formulation with translational and rotational degrees of freedom. Finally, the robustness and the performance of the proposed methodology are demonstrated by three numerical examples.