Dynamic simulation for flexible multibody systems containing frictional impact and stick-slip processes

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Journal of Vibration and Shock ›› 2017, Vol. 36 ›› Issue (23) : 32-37.

QIAN Zhenjie 1, ZHANG Dingguo 2 , Jin Chengqian 1

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Abstract

The dynamic simulation including modeling and automatic switching for flexible multibody systems was investigated using Lagrange multiplier method and the high order rigid-flexible coupled theory. Based on variable topology idea, dynamic equations and the corresponding constraint conditions were established, respectively for detachment, impact, viscous contact and slip contact states. The impulse-momentum method was used to solve the impact initial conditions. The concept of tangential sliding friction force potential energy was introduced to describe the corresponding generalized impact forces with Lagrange equations. The switching criteria among contact, detachment, stick and slip were built to realize the global dynamic automatic switching of the system. Examples were numerically simulated to analyze the complex non-smooth phenomena including forward/backward slip and slip/stick( micro slip) to verify the effectiveness of the proposed model and algorithms.

Key words

frictional impact / stick-slip / contact constraints / flexible robot arm / dynamic modeling

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QIAN Zhenjie 1, ZHANG Dingguo 2,Jin Chengqian 1. Dynamic simulation for flexible multibody systems containing frictional impact and stick-slip processes[J]. Journal of Vibration and Shock, 2017, 36(23): 32-37

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