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Simulation of Mechanical Systems With Multiple Frictional Contacts

机译:具有多个摩擦触点的机械系统的仿真

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摘要

There are several applications in robotics and manufacturing in which nominally rigid objects are subject to multiple frictional contacts with other objects. In most previous work, rigid body models have been used to analyze such systems. There are two fundamental problems with such an approach. Firstly, the use of frictional laws, such as Coulomb\u27s law, introduce inconsistencies and ambiguities when used in conjunction with the principles of rigid body dynamics. Secondly, hypotheses traditionally used to model frictional impacts can lead to solutions which violate principles of energy conservation. In this paper these problems are explained with the help of examples. A new approach to the simulation of mechanical systems with multiple, frictional constraints is proposed which is free of inconsistencies.
机译:在机器人技术和制造中有几种应用,其中标称刚性的物体会与其他物体发生多次摩擦接触。在大多数以前的工作中,刚体模型已用于分析此类系统。这种方法有两个基本问题。首先,当与刚体动力学原理结合使用时,摩擦定律(例如库仑定律)的使用会带来不一致和歧义。其次,传统上用来模拟摩擦影响的假设可能导致违反节能原理的解决方案。在本文中,将通过示例说明这些问题。提出了一种新的模拟具有多个摩擦约束的机械系统的方法,该方法没有矛盾之处。

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