Ms. Pereira et P. Nikravesh, IMPACT DYNAMICS OF MULTIBODY SYSTEMS WITH FRICTIONAL CONTACT USING JOINT COORDINATES AND CANONICAL EQUATIONS OF MOTION, Nonlinear dynamics, 9(1-2), 1996, pp. 53-71
This paper presents a methodology in computational dynamics for the an
alysis of mechanical systems that undergo intermittent motion. A canon
ical form of the equations of motion is derived with a minimal set of
coordinates. These equations are used in a procedure for balancing the
momenta of the system over the period of impact, calculating the jump
in the body momentum, velocity discontinuities and rebounds. The effe
ct of dry friction is discussed and a contact law is proposed. The pre
sent formulation is extended to open and closed-loop mechanical system
s where the jumps in the constraints' momenta are also solved. The app
lication of this methodology is illustrated with the study of impact o
f open-loop and closed-loop examples.