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Abstract: An Implicit Time-Stepping Scheme for Rigid Body Dynamics with Inelastic Collisions and Coulomb Friction
An Implicit Time-Stepping Scheme for Rigid Body Dynamics with Inelastic Collisions and Coulomb Friction
D.E. Stewart
J.C. Trinkle
International Journal of Numerical Methods in Engineering, in press.
© 1996 IJNME.
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Abstract:
In this paper, a new time-stepping method for simulating systems of
rigid bodies is given which incorporates Coulomb friction and
inelastic impacts and shocks. Unlike other methods which take an
instantaneous point of view, this method does not need to explicitly
identify impulsive forces. Instead, the treatment is similar to that
of J.J. Moreau and Monteiro-Marques, except that the numerical
formulation used here ensures that there is no interpenetration of
rigid bodies, unlike their velocity-based formulation. Numerical
results are given for the method presented here for a spinning rod
impacting a table in two dimensions, and a systems of four balls
colliding on a table in a fully three-dimensional way. These
numerical results also show the practicality of the method, and its
convergence as the step becomes small.
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