Multiple impacts: A state transition diagram approach
| Autor: | Matthew T. Mason, Michael A. Erdmann, Yan-Bin Jia |
|---|---|
| Rok vydání: | 2012 |
| Předmět: |
Phase transition
Engineering business.industry Applied Mathematics Mechanical Engineering Single impact Collision Kinetic energy Restitution Classical mechanics Artificial Intelligence Modeling and Simulation Bounded function Impact model Collision problem Electrical and Electronic Engineering business Software |
| Zdroj: | The International Journal of Robotics Research. 32:84-114 |
| ISSN: | 1741-3176 0278-3649 |
| DOI: | 10.1177/0278364912461539 |
| Popis: | Impact happens when two or more bodies collide, generating very large impulsive forces in a very short period of time during which kinetic energy is first absorbed and then released after some loss. This paper introduces a state transition diagram to model a frictionless multibody collision. Each state describes a different topology of the collision characterized by the set of instantaneously active contacts. A change of state happens when a contact disappears at the end of restitution, or when a disappeared contact reappears as the relative motion of two bodies goes from separation into penetration. Within a state, (normal) impulses are coupled differentially subject to relative stiffnesses at the active contact points and the strain energies stored there. Such coupling may cause restart of compression from restitution during a single impact. Impulses grow along a bounded curve with first-order continuity, and converge during the state transitions. To solve a multibody collision problem with friction and tangential compliance, the above impact model is integrated with a compliant impact model. The paper compares model predictions to a physical experiment for the massé shot, which is a difficult trick in billiards, with a good result. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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