Concurrent Multiple impacts in rigid bodies: Formulation and simulation

Vincent Acary (1) , Doh-Elvis Taha (1)

1 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems

The analysis of collisions in multi-body systems has been a topic of continuous research in recent years. The purpose of this paper is to exhibit a multiple impact law for rigid body dynamical system built on physically motivated parameters. This law must meet the properties of closing the non-smooth dynamical equations and of corroborating experiments. Studying the most basic multi-body impact problem ( the chain of ball), we highlight the properties of our impulse ratio based law. These properties are : existence and uniqueness of the post-impact velocities, compliance with the unilateral constraints, energy balance and the numerical tractability. We then attempt to extend our formulation to the general case of Lagrangian systems by studying a bidimensional chain. This study paves the way towards more general results on the quantitative and qualitative properties of a multiple impact law based on a impulse ratio.

Domaines: Mécanique des solides [physics.class-ph]; Mécanique des solides [physics.class-ph]

Vincent Acary, Doh-Elvis Taha. Concurrent Multiple impacts in rigid bodies: Formulation and simulation. ENOC-2005, Technical University Eindhoven Tu/e, Aug 2005, Eindhoven, Netherlands. ⟨inria-00424055⟩