Modeling of an object in free fall and collision with linear and nonlinear environments
| Autor: | Leonam S. D. Pecly, L. O. Marchi, Valdemir Carrara |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
020301 aerospace & aeronautics
0209 industrial biotechnology Computer science Mathematical analysis Equations of motion 02 engineering and technology Collision Damper Numerical integration Nonlinear system 020901 industrial engineering & automation 0203 mechanical engineering Trajectory Dissipative system Quaternion |
| Zdroj: | LARS/SBR |
| Popis: | Due to the complexity of the mathematical and computational reproduction of collision movements performed by solids objects in the real world, alternately a common approach is to use dynamic models compound of elastic (spring) and dissipative (damper) forces with the theory of rigid bodies. In this paper, the modeling of translational and rotational movement of a solid cube in free fall colliding with linear and nonlinear environments considering very small penetrations is presented and evaluated. The environment modeling considers force in the vertical and horizontal directions, where for vertical the linear Kelvin-Voigt (KV) and the nonlinear Hunt-Crossley (HC) are considered. The attitude propagation is based on quaternions and numerical integration of all motion equations (6DOF) are performed using the integrator Runge-Kutta 7 (RK7). The results and analyses are made based on the energy, the object trajectory and the energy hysteresis diagram for both environment models used. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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