Research Papers

A Recursive Hybrid Time-Stepping Scheme for Intermittent Contact in Multi-Rigid-Body Dynamics

[+] Author and Article Information
Kishor D. Bhalerao1

Department of Mechanical, Aerospace, and Nuclear Engineering, Rensselaer Polytechnic Institute, Troy, NY 12180bhalek@rpi.edu

Kurt S. Anderson

Department of Mechanical, Aerospace, and Nuclear Engineering, Rensselaer Polytechnic Institute, Troy, NY 12180anderk5@rpi.edu

Jeffrey C. Trinkle

Department of Computer Science, Rensselaer Polytechnic Institute, Troy, NY 12180trink@cs.rpi.edu


Corresponding author.

J. Comput. Nonlinear Dynam 4(4), 041010 (Aug 25, 2009) (11 pages) doi:10.1115/1.3192132 History: Received August 22, 2008; Revised October 23, 2008; Published August 25, 2009

This paper describes a novel method for the modeling of intermittent contact in multi-rigid-body problems. We use a complementarity based time-stepping scheme in Featherstone’s divide and conquer framework to efficiently model the unilateral and bilateral constraints in the system. The time-stepping scheme relies on impulse-based equations and does not require explicit collision detection. A set of complementarity conditions is used to model the interpenetration constraint and a linearized friction cone is used to yield a linear complementarity problem. The divide and conquer framework ensures that the size of the resulting mixed linear complementarity problem is independent of the number of bilateral constraints in the system. This makes the proposed method especially efficient for systems where the number of bilateral constraints is much greater than the number of unilateral constraints. The method is demonstrated by applying it to a falling 3D double pendulum.

Copyright © 2009 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.



Grahic Jump Location
Figure 1

Proximal points between two convex bodies

Grahic Jump Location
Figure 2

Polygonal approximation of the circular friction cone (10)

Grahic Jump Location
Figure 3

The hierarchic assembly and disassembly processes using binary-tree structure

Grahic Jump Location
Figure 4

Representative bodies of a multibody system

Grahic Jump Location
Figure 5

Assembly process for a unilateral constraint on body k

Grahic Jump Location
Figure 6

Unilateral constraint is defined between the xy plane and point P1 on body A

Grahic Jump Location
Figure 7

Drift in x and y coordinates of the center of mass of the double pendulum for μ=0

Grahic Jump Location
Figure 8

Comparison between the time-stepping scheme and AUTOLEV model

Grahic Jump Location
Figure 9

x and z coordinates of point P1 for a planar (xz) double pendulum

Grahic Jump Location
Figure 10

Elastic contact between point P1 and xy plane, ϵN=0.7



Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In