Mechanics of Impact for Compliant Multi-Body Systems
In multi-body systems an external impact introduces internal reactions that are required to maintain constraints on relative displacements between points of contact on adjacent elements. The constraints can be either unilateral or bilateral. Unilateral constraints occur at points of contact where terminal relative velocity and contact forces are positive in a direction normal to the tangent plane; i.e. contact points on adjacent bodies must finally separate as in problems of granular flow. On the other hand, bilateral constraints represent linkages where at each joint the relative velocity finally vanishes. Here we are concerned with external impact on multi-body systems with unilateral constraints.
KeywordsContact Force Contact Point Relative Velocity Multibody System Contact Region
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