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Energetic consistency conditions for standard impacts : Part I: Newton-type inequality impact laws and Kane's example

Glocker, Christoph

In: Multibody System Dynamics, 2013, vol. 29, no. 1, p. 77-117

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    Titre
    • Energetic consistency conditions for standard impacts
      Part I: Newton-type inequality impact laws and Kane's example
    Auteur
    • Glocker, Christoph. IMES—Center of Mechanics, ETH Zurich, CLA J23.1, 8092, Zurich, Switzerland
    Type de document
    • Postprint
    Langue
    • Anglais
    Publié dans
    • Multibody System Dynamics, 2013, vol. 29, no. 1, p. 77-117. Springer Netherlands
    Autre version électronique
    Identifiant OAI-PMH
    • oai:doc.rero.ch:319413
    Summary
    The paper studies the conditions under which Newtonian impacts lead to an energetically consistent post-impact state, and identifies the mechanisms responsible for a potential violation. Unilateral and bilateral geometric and kinematic constraints, as well as various Coulomb type friction elements are equipped with a kinematic restitution coefficient and are taken into account in the impact problem as normal cone inclusions. Based on the condition number of the Delassus operator, bounds on the impact coefficients are derived that ensure energetic consistency. As counter-examples, a slide-push mechanism is presented, and Kane's example of a frictional impact at a double pendulum is analyzed