Dynamic Multi-Rigid-Body Systems with Concurrent Distributed Contacts
2
Jong-Shi Pang
Jeff Trinkle
Submitted to the Journal of Applied Mechanics
1996 JAM
http://www.cs.tamu.edu/faculty/trink/Papers/jamPT.ps.Z
Consider a system of bodies with multiple concurrent contacts. The
multi-rigid-body contact problem is to predict the accelerations of
the bodies and the normal and friction loads acting at the
contacts. This paper presents theoretical results for the
multi-rigid-body contact problem under the assumptions that one or
more contacts occur over locally planar, finite regions and friction
forces are consistent with the maximum work inequality. We present an
existence and uniqueness result for this problem under some mild
assumptions on the system inputs. The application of our results to
three examples is discussed.