Second-Order Contact Kinematics Between Three-Dimensional Rigid Bodies

2019 ◽  
Vol 86 (8) ◽  
Author(s):  
J. Zachary Woodruff ◽  
Kevin M. Lynch
Keyword(s):  
Three Dimensional ◽  
Rigid Bodies ◽  
Second Order ◽  
Contact Kinematics ◽  
Acceleration Analysis ◽  
Order Contact

In this discussion, we provide corrections to the second-order kinematic equations describing contact between three-dimensional rigid bodies, originally published in Sarkar et al. (1996) [“Velocity and Acceleration Analysis of Contact Between Three-Dimensional Rigid Bodies,” ASME J. Appl. Mech., 63(4), pp. 974–984].

Contact Kinematics between Three-Dimensional Rigid Bodies with General Surface Parameterization

2020 ◽  
pp. 1-28
Author(s):  
Mubang Xiao ◽  
Ye Ding
Keyword(s):  
Reference Frame ◽  
Relative Motion ◽  
Screw Theory ◽  
Dimensional Space ◽  
Contact Point ◽  
Three Dimensional ◽  
Rigid Bodies ◽  
Frame Field ◽  
Contact Kinematics ◽  
Acceleration Analysis

Abstract This paper provides an improvement of the classic Montana's contact kinematics equations considering non-orthogonal object parameterizations. In Montana's model, the reference frame used to define the relative motion between two rigid bodies in three-dimensional space is chosen as the Gauss frame, assuming there is an orthogonal coordinate system on the object surface. To achieve global orthogonal parameterizations on arbitrarily shaped object surfaces, we define the relative motion based on the reference frame field, which is the orthogonalization of the surface natural basis at every contact point. The first- and second-order contact kinematics, including the velocity and acceleration analysis of the relative rolling, sliding, and spinning motion, are reformulated based on the reference frame field and the screw theory. We use two simulation examples to illustrate the proposed method. The examples are based on simple non-orthogonal surface parameterizations, instead of seeking for global orthogonal parameterizations on the surfaces.

Velocity and Acceleration Analysis of Contact Between Three-Dimensional Rigid Bodies

1996 ◽  
Vol 63 (4) ◽  
pp. 974-984 ◽  
Author(s):  
N. Sankar ◽  
V. Kumar ◽  
Xiaoping Yun
Keyword(s):  
Rigid Body ◽  
Relative Motion ◽  
Three Dimensional ◽  
Rigid Bodies ◽  
Local Surface ◽  
Contact Points ◽  
Pure Rolling ◽  
Acceleration Analysis ◽  
Rigid Body Motions ◽  
Two Bodies

During manipulation and locomotion tasks encountered in robotics, it is often necessary to control the relative motion between two contacting rigid bodies. In this paper we obtain the equations relating the motion of the contact points on the pair of contacting bodies to the rigid-body motions of the two bodies. The equations are developed up to the second order. The velocity and acceleration constraints for contact, for rolling, and for pure rolling are derived. These equations depend on the local surface properties of each contacting body. Several examples are presented to illustrate the nature of the equations.

Velocity and Acceleration Analysis of Contact Between Three-Dimensional Rigid Bodies

1994 ◽  
Author(s):  
Nilanjan Sarkar ◽  
Vijay Kumar ◽  
Xiaoping Yun
Keyword(s):  
Rigid Body ◽  
Relative Motion ◽  
Three Dimensional ◽  
Rigid Bodies ◽  
Local Surface ◽  
Contact Points ◽  
Pure Rolling ◽  
Acceleration Analysis ◽  
Rigid Body Motions ◽  
Two Bodies

Abstract During manipulation and locomotion tasks encountered in robotics, it is often necessary to control the relative motion between two contacting rigid bodies. In this paper we obtain the equations relating the motion of the contact points on the pair of contacting bodies to the rigid body motions of the two bodies. The equations are developed up to the second order. The velocity and acceleration constraints for contact, for rolling, and for pure rolling are derived. These equations depend on the local surface properties of each contacting body. Several examples are presented to illustrate the nature of the equations.

THREE-DIMENSIONAL STAGNATION-POINT FLOW OVER A PERMEABLE STRETCHING/SHRINKING SHEET WITH A SECOND ORDER SLIP FLOW

2021 ◽  
Vol 10 (9) ◽  
pp. 3273-3282
Author(s):  
M.E.H. Hafidzuddin ◽  
R. Nazar ◽  
N.M. Arifin ◽  
I. Pop
Keyword(s):  
Differential Equations ◽  
Stagnation Point ◽  
Flow Model ◽  
Nonlinear Partial Differential Equations ◽  
Slip Flow ◽  
Three Dimensional ◽  
Flow Characteristics ◽  
Second Order ◽  
Stagnation Point Flow ◽  
Shrinking Sheet

The problem of steady laminar three-dimensional stagnation-point flow on a permeable stretching/shrinking sheet with second order slip flow model is studied numerically. Similarity transformation has been used to reduce the governing system of nonlinear partial differential equations into the system of ordinary (similarity) differential equations. The transformed equations are then solved numerically using the \texttt{bvp4c} function in MATLAB. Multiple solutions are found for a certain range of the governing parameters. The effects of the governing parameters on the skin friction coefficients and the velocity profiles are presented and discussed. It is found that the second order slip flow model is necessary to predict the flow characteristics accurately.

Effect of Material and Geometric Parameters on the Steady-State Belt Stresses and Belt Slip for Flat Belt-Drives

2015 ◽  
Author(s):  
Cagkan Yildiz ◽  
Tamer M. Wasfy ◽  
Hatem M. Wasfy ◽  
Jeanne M. Peters
Keyword(s):  
Steady State ◽  
Equations Of Motion ◽  
Three Dimensional ◽  
Flexible Multibody Dynamics ◽  
Friction Model ◽  
Rigid Bodies ◽  
Geometric Parameters ◽  
Rubber Matrix ◽  
Axial Stiffness ◽  
Belt Drive

In order to accurately predict the fatigue life and wear life of a belt, the various stresses that the belt is subjected to and the belt slip over the pulleys must be accurately calculated. In this paper, the effect of material and geometric parameters on the steady-state stresses (including normal, tangential and axial stresses), average belt slip for a flat belt, and belt-drive energy efficiency is studied using a high-fidelity flexible multibody dynamics model of the belt-drive. The belt’s rubber matrix is modeled using three-dimensional brick elements and the belt’s reinforcements are modeled using one dimensional truss elements. Friction between the belt and the pulleys is modeled using an asperity-based Coulomb friction model. The pulleys are modeled as cylindrical rigid bodies. The equations of motion are integrated using a time-accurate explicit solution procedure. The material parameters studied are the belt-pulley friction coefficient and the belt axial stiffness and damping. The geometric parameters studied are the belt thickness and the pulleys’ centers distance.

Three-Dimensional Kinematics of Rigid Bodies

1997 ◽  
pp. 657-698
Author(s):  
Bichara B. Muvdi ◽  
Amir W. Al-Khafaji ◽  
J. W. McNabb
Keyword(s):  
Three Dimensional ◽  
Rigid Bodies
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