Two Frictions Laws for Lagranges Equations of Multibody System with Dry Friction
With the first kind of Lagranges equations, this paper presents the dynamical equations of multibody system with friction constraints. The generalized forces of friction forces are described in the form of matrix. Considering numerical method is widespread to analyze the characteristics of multibody system dynamics, this paper compares the two friction laws for solving the multibody system problem with dry friction constraints. Using Baumgartes and augmentation method, the differential-algebraic equations are given in the form of differential equations matrix to raise calculating efficiency. The friction force for Coulombs friction law and the continuous friction law is denoted, which converts subsection smooth systems to continuous smooth systems. An example is given to evaluate the validity of continuous law of friction. The numerical simulation shows that continuous law of friction is an effective method to process multibody system friction problem. The work in this paper also provides a new direction to research the non-smooth multibody system dynamics equation.
Multi-body system Dry-friction Frictions law Numerical method
Jianfeng WANG Yingjiu LIU ShunchuanGAO Song LI Feng FENG
Air Force Aviation University, Changchun, Jilin, China
国际会议
2011 International Conference on Mechatronics and Materials Processing(2011年机电一体化与材料加工国际会议 ICMMP)
广州
英文
1697-1700
2011-11-18（万方平台首次上网日期，不代表论文的发表时间）