Modelling, simulation and experimental verification of contact/impact dynamics in flexible multi-body systems

Contact/impact in flexible multibody systems that undergo pre-contact free motion, contact/impact and post-impact constraint motion is modelled. The s hortcomings of using coefficients of restitution, penalty parameters and La grange multipliers are overcome by using a methodology for modelling non-ho lonomic hybrid parameter multiple body systems (HPMBS). The minimum set of equations required for the systems were developed using the methodology. Al l the dynamics of the manipulator (elaborated in the section below) are mod elled with very few degrees of freedom. The model was experimentally valida ted via a planar two-link flexible manipulator that undergoes the complete motion regime. The comparisons show that the model predicts the complete dy namics of the manipulator accurately and the transition between the differe nt modes of motion is seamless. (C) 1999 Academic Press.