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Energetic consistency conditions for standard impacts : Part II: Poisson-type inequality impact laws

Glocker, Christoph

In: Multibody System Dynamics, 2014, vol. 32, no. 4, p. 445-509

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    Title
    • Energetic consistency conditions for standard impacts
      Part II: Poisson-type inequality impact laws
    Author
    • Glocker, Christoph. IMES—Center of Mechanics, ETH Zurich, CLA J23.1, 8092, Zurich, Switzerland
    Document Type
    • Postprint
    OAI-PMH Identifier
    • oai:doc.rero.ch:325312
    Summary
    The paper presents a full account of Poisson's impact law in inequality form. Based on an entirely new setting for the decompression phase, impact laws for unilateral and bilateral geometric and kinematic constraints and various friction elements are introduced and equipped with an impact coefficient in the sense of Poisson's impulse ratio. Energetic consistency is proven for small and similar impact coefficients via the condition number of the Delassus operator. Energetic consistency is generally proven for frictionless systems, as well as for systems containing one single frictional contact. Acounter-example is developed, which demonstrates a possible energy increase for Poisson impacts in the presence of more than one frictional contact.