Abstract
This paper describes a new method for modeling the dynamics of rolling rigid-bodies in the framework of object-oriented multibody dynamics with minimal coordinates. The method consists in modeling each rigid-body surface as a kinetostatic transmission element mapping the motion of the rigid-body as well as a two-parametric relative motion on its surface to the spatial motion of a corresponding Darboux frame. This allows for contact constraints to be handled as a subset of the closure conditions of a kinematical chain at position level and, hence, to be assembled into a multibody framework without further efforts. Furthermore, the paper shows two examples which use surface-fitting with bivariate B-Splines to define the surface joints, and discusses the advantages of solving the contact equations at position level.
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Stepken, A., Flores, F.G. (2019). Minimal coordinate multibody dynamics of rolling surfaces using surface joints. In: Uhl, T. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science, vol 73. Springer, Cham. https://doi.org/10.1007/978-3-030-20131-9_323
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DOI: https://doi.org/10.1007/978-3-030-20131-9_323
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