IMPACT DYNAMICS OF MULTIBODY SYSTEMS WITH FRICTIONAL CONTACT USING JOINT COORDINATES AND CANONICAL EQUATIONS OF MOTION

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.