Skip to main content
SpringerLink
Log in

Dealing with multiple contacts in a human-in-the-loop application

  • Published:
Multibody System Dynamics Aims and scope Submit manuscript

Abstract

This paper deals with continuous contact force models applied to the human-in-the-loop simulation of multibody systems, while the results are valid in general to all the real-time applications with contacts. The contact model proposed in this work is suited to collisions between massive solids for which the assumption of quasi-static contact holds, and it can be supposed that the deformation is limited to a small region of the colliding bodies while the remainder of them are assumed to be rigid. The model consists of two components: normal compliance with nonlinear viscoelastic model based on the Hertz law, and tangential friction force based on Coulomb’s law including sticktion and a viscous friction component. Furthermore, the model takes into account the geometry and the material of the colliding bodies. The tangential model is a novel contribution while the normal model is completely taken from previous works. For this work, the formulation of the equations of motion is an augmented Lagrangian with projections of velocities and accelerations onto their constraints manifolds and implicit integrator. The whole solution proposed is tested in three applications: the first one is the simulation of a spring–mass system with Coulomb’s friction, which is an academic problem with known analytical solution; the second one is the Bowden and Leben stick–slip experiment; the third one is a simulator of a hydraulic excavator Liebherr A924, which is a realistic application that gives an idea of the capabilities of the method proposed.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Lankarani, H.M., Nikravesh, P.E.: A contact force model with hysteresis damping for impact analysis of multibody systems. J. Mech. Des. 112, 369–376 (1990)

    Article  Google Scholar 

  2. Flores, P., Ambrosio, J., Claro, J.C.P., Lankarani, H.M.: Influence of the contact-impact force model on the dynamic response of multi-body systems. Proc. Inst. Mech. Eng., Proc. Part K, J. Multi-Body Dyn. 220, 21–34 (2006)

    Google Scholar 

  3. Flores, P., Ambrosio, J., Claro, J.C.P., Lankarani, H.M.: Kinematics and Dynamics of Multibody Systems with Imperfect Joints. Springer, Berlin (2008)

    MATH  Google Scholar 

  4. Stronge, W.J.: Impact Mechanics. Cambridge University Press, Cambridge (2004)

    Google Scholar 

  5. Djerassi, S.: Collision with friction. Part A: Newton’s hypothesis. Multibody Syst. Dyn. 21, 37–54 (2009)

    Article  MATH  MathSciNet  Google Scholar 

  6. Djerassi, S.: Collision with friction. Part B: Poisson’s and Stronge’s hypotheses. Multibody Syst. Dyn. 21, 55–70 (2009)

    Article  MATH  MathSciNet  Google Scholar 

  7. Schiehlen, W., Seifried, R.: Three approaches for elastodynamic contact in multibody systems. Multibody Syst. Dyn. 12, 1–16 (2004)

    Article  MATH  Google Scholar 

  8. Hunt, K.H., Crossley, F.R.E.: Coefficient of restitution interpreted as damping in vibroimpact. J. Appl. Mech. 7, 440–445 (1975)

    Article  Google Scholar 

  9. Lotstedt, P.: Mechanical systems of rigid bodies subject to unilateral constraints. SIAM J. Appl. Math. 42, 281–296 (1982)

    Article  MathSciNet  Google Scholar 

  10. Pfeiffer, F., Glocker, C.: Multi-body Dynamics with Unilateral Constraints. Wiley, New York (1996)

    Book  Google Scholar 

  11. Bhalerao, K.D., Anderson, K.S., Trinkle, J.C.: A recursive hybrid time-stepping scheme for intermittent contact in multi-rigid-body dynamics. J. Comput. Nonlinear Dyn. 4, 281–296 (2009)

    Google Scholar 

  12. Flores, P., Leine, R., Glocker, C.: Modeling and analysis of planar rigid multibody systems with translational clearance joints based on the non-smooth dynamics approach. Multibody Syst. Dyn. 23, 165–190 (2010)

    Article  MathSciNet  Google Scholar 

  13. Ismail, K.A., Stronge, W.J.: Impact of viscoplastic bodies: dissipation and restitution. J. Appl. Mech. 75, 1–5 (2008)

    Article  Google Scholar 

  14. Butcher, E.A., Segalman, D.J.: Characterizing damping and restitution in compliant impacts via modified K-V and higher-order linear viscoelastic models. J. Appl. Mech. 67, 831–834 (2000)

    Article  MATH  Google Scholar 

  15. Garcia de Jalon, J., Bayo, E.: Kinematic and Dynamic Simulation of Multibody Systems: The Real-time Challenge. Springer, Berlin (1994)

    Google Scholar 

  16. Garcia de Jalon, J.: Twenty-five years of natural coordinates. Multibody Syst. Dyn. 18, 15–33 (2007)

    Article  MATH  MathSciNet  Google Scholar 

  17. Bayo, E., García de Jalon, J., Serna, M.A.: A modified lagrangian formulation for the dynamic analysis of constrained mechanical systems. Comput. Methods Appl. Mech. Eng. 71, 183–195 (1988)

    Article  MATH  Google Scholar 

  18. Bayo, E., Ledesma, R.: Augmented Lagrangian and mass-orthogonal projection methods for constrained multibody dynamics. Nonlinear Dyn. 9, 113–130 (1996)

    Article  MathSciNet  Google Scholar 

  19. Eich-Soellner, E., Führer, C.: Numerical Methods in Multibody Dynamics. Teubner, Stuttgart (1998)

    MATH  Google Scholar 

  20. Cuadrado, J., Gutierrez, R., Naya, M.A., Morer, P.: A comparison in terms of accuracy and efficiency between a MBS dynamic formulation with stress analysis and a non-linear FEA code. Int. J. Numer. Methods Eng. 51, 1033–1052 (2001)

    Article  MATH  Google Scholar 

  21. Cuadrado, J., Dopico, D., Naya, M.A., Gonzalez, M.: Penalty, semi-recursive and hybrid methods for MBS real-time dynamics in the context of structural integrators. Multibody Syst. Dyn. 12, 117–132 (2004)

    Article  MATH  Google Scholar 

  22. Lankarani, H.M., Nikravesh, P.E.: Continuous contact force models for impact analysis in multibody systems. Nonlinear Dyn. 5, 193–207 (1994)

    Google Scholar 

  23. Zukas, J.A., Nicholas, T., Greszczuk, L.B., Curran, D.R.: Impact Dynamics. Wiley, New York (1982)

    Google Scholar 

  24. Goldsmith, W.: Impact, the Theory and Physical Behaviour of Colliding Solids. Edward Arnold, London (1960)

    MATH  Google Scholar 

  25. Gonthier, Y., McPhee, J., Lange, C., Piedboeuf, J.C.: A regularized contact model with asymmetric damping and dwell-time dependent friction. Multibody Syst. Dyn. 11, 209–233 (2004)

    Article  MATH  Google Scholar 

  26. Choi, J., Ryu, H.S., Kim, C.W., Choi, J.H.: An efficient and robust contact algorithm for a compliant contact force model between bodies of complex geometry. Multibody Syst. Dyn. 23, 99–120 (2010)

    Article  MATH  Google Scholar 

  27. Foley, J.D., van Dam, A., Feiner, S.K., Hughes, J.: Introduction to Computer Graphics. Addison-Wesley, Reading (1993)

    Google Scholar 

  28. Flores, P., Ambrosio, J.: On the contact detection for contact-impact analysis in multibody systems. Multibody Syst. Dyn. 24, 103–122 (2010)

    Article  MATH  MathSciNet  Google Scholar 

  29. Rabinowicz, E.: Stick and slip. Sci. Am. 194(5), 109–118 (1956)

    Article  Google Scholar 

  30. Pacejka, H.B., Bakker, E.: The magic formula tyre model. In: Pacejka, H.B. (ed.): Tyre Models for Vehicle Dynamics Analysis. Taylor & Francis, London (1993)

    Google Scholar 

  31. Liebherr-International Deutschland GmbH. Technical description A 924 C Litronic. http://www.liebherr.com/lh/en/ (2008)

Download references

Author information

Authors and Affiliations

  1. Escuela Politecnica Superior, Universidad de A Coruña, Mendizabal s/n, 15403, Ferrol, Spain

    Daniel Dopico, Alberto Luaces, Manuel Gonzalez & Javier Cuadrado

Authors
  1. Daniel Dopico
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Alberto Luaces
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Manuel Gonzalez
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Javier Cuadrado
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Daniel Dopico.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Dopico, D., Luaces, A., Gonzalez, M. et al. Dealing with multiple contacts in a human-in-the-loop application. Multibody Syst Dyn 25, 167–183 (2011). https://doi.org/10.1007/s11044-010-9230-y

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11044-010-9230-y

Keywords

Search

Navigation