平面棱柱铰内考虑摩擦效应的接触分析

研究了多体系统中平面棱柱铰内的摩擦接触分析。在忽略铰内的碰撞效应的前提下,根据接触力系与约束反力的等效关系,以及各个角点接触力自身满足的互补关系,得到了接触力系关于摩擦力的线性互补方程。结合库仑摩擦定律,确定了铰内角点处的接触反力以及摩擦合力;另外,由接触力曲线可以得到铰内的接触形式,以及各个接触形式发生改变的时刻。通过ADAMS算例验证,这些接触形式转换的时刻就是铰内发生碰撞的时刻,为高效率地研究铰内碰撞提供了可能。

Non-colliding contact analysis with friction in the planar prismatic joint

The frictional contact analysis without impact in the planar prismatic joint of multi-body systems is studied in this paper.The corresponding contact forces are obtained from the equivalence of the contact forces and joint reaction force,and finally lead to a linear complementary equation in terms of the resultant frictional force based on the complementary conditions between themselves.An additional equation is introduced based on the Coulomb’s law of friction to make the problem solvable.The actual contact situation is obtained from the contact forces.The instants of switching from one situation to another can be also captured using the method proposed in this paper,and it is verified in ADAMS that the very instants are the impact instants.This provides a high-efficient way to study the impact effects in joints.