Kinetic quasi-velocities in unilaterally constrained Lagrangian mechanics with impacts and friction

被引：26
作者：
Brogliato, Bernard [1 ]
机构：
[1] INRIA, ZIRST Montbonnot, Bipop Team Project, F-38334 Saint Ismier, France
来源：
MULTIBODY SYSTEM DYNAMICS | 2014年 / 32卷 / 02期
关键词：
Bilateral holonomic constraints; Unilateral constraints; Complementarity conditions; Coulomb friction; Tangential restitution; Painleve paradox; Quasi-velocities; Quasi-Lagrange dynamics; Kinematic impact law; Moreau's impact law; Kinetic angles; Kinetic metric; FREE DYNAMIC EQUATIONS; BODY CONTACT PROBLEMS; MULTIBODY SYSTEMS; PART I; MOTION; FORMULATION; DISCRETE; FINITE; TERMS; FORM;
D O I：
10.1007/s11044-013-9392-5
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
Quasi-velocities computed with the kinetic metric of a Lagrangian system are introduced, and the quasi-Lagrange equations are derived with and without friction. This is shown to be very well suited to systems subject to unilateral constraints (hence varying topology) and impacts. Energetical consistency of a generalized kinematic impact law is carefully studied, both in the frictionless and the frictional cases. Some results concerning the existence and uniqueness of solutions to the so-called contact linear complementarity problem, when friction is present, are provided.
引用
收藏
页码：175 / 216
页数：42
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