Kinetic quasi-velocities in unilaterally constrained Lagrangian mechanics with impacts and friction - BIPOP Accéder directement au contenu
Article Dans Une Revue Multibody System Dynamics Année : 2014

Kinetic quasi-velocities in unilaterally constrained Lagrangian mechanics with impacts and friction

Résumé

Quasi-velocities computed with the kinetic metric of a Lagrangian system are introduced, and the quasi-Lagrange equations are derived with and without friction. This is shown to be very well suited to systems subject to unilateral constraints (hence varying topology) and impacts. Energetical consistency of a generalized kinematic impact law is carefully studied, both in the frictionless and the frictional cases. Some results concerning the existence and uniqueness of solutions to the so-called contact linear complementarity problem, when friction is present, are provided.
Fichier principal
Vignette du fichier
BBKQ.pdf (697.01 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-01088288 , version 1 (01-11-2017)

Identifiants

Citer

Bernard Brogliato. Kinetic quasi-velocities in unilaterally constrained Lagrangian mechanics with impacts and friction. Multibody System Dynamics, 2014, 32 (2), pp.175-216. ⟨10.1007/s11044-013-9392-5⟩. ⟨hal-01088288⟩
129 Consultations
274 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More