相关论文: On the regularization of impact without collision:…
The 120-year old so-called Painleve paradox involves the loss of determinism in models of planar rigid bodies in point contact with a rigid surface, subject to Coulomb-like dry friction. The phenomenon occurs due to coupling between normal…
We investigate the dynamics of finite degree-of-freedom, planar mechanical systems with multiple sliding, unilateral frictional point contacts. A complete classification of systems with 2 sliding contacts is given. The contact-mode based…
This paper analyses in detail the dynamics in a neighbourhood of a G\'enot-Brogliato point, colloquially termed the G-spot, which physically represents so-called dynamic jam in rigid body mechanics with unilateral contact and Coulomb…
Formulating a consistent theory for rigid-body dynamics with impacts is an intricate problem. Twenty years ago Stewart published the first consistent theory with purely inelastic impacts and an impulsive friction model analogous to Coulomb…
Paradoxes in the impact dynamics of rigid bodies are known to arise in the presence of friction. We show here that, on specificc occasions, in the absence of friction, the conservation laws of classical mechanics are also incompatible with…
We consider the problem of a slender rod slipping along a rough surface. Painlev\'e \cite{Painleve1895, Painleve1905a,Painleve1905b} showed that the governing rigid body equations for this problem can exhibit multiple solutions (the {\it…
A generalization of Coulomb-Amontons' law of dry friction recently proposed by V. V. Kozlov is considered in the context of rigid body dynamics. Universal requirements for dry friction tensor formulated by V. V. Kozlov are complemented by a…
We study the dynamics of pairs of connected masses in the plane, when nonholonomic (knife-edge) constraints are realized by forces of viscous friction, in particular its relation to constrained dynamics, and its approximation by the method…
The quasistatic normal-compliance contact problem of isotropic homogeneous linear visco-elastic bodies with Coulomb friction at small strains in Kelvin-Voigt rheology is considered. The discretization is made by a semi-implicit formula in…
We consider a rigid body freely moving in a compressible inviscid fluid within a bounded domain $\Omega\subset\mathbb{R}^3$. The fluid is thereby governed by the non necessarily isentropic compressible Euler equations, while the rigid body…
We examined the asymmetric deformation in collisions and the transition conditions from oblique to normal collisions and non-collisions to address the problem of oblique collisions of rigid bodies in classical mechanics. A closed solution…
The Painlev\'e paradox is a phenomenon that causes instability in mechanical systems subjects to unilateral constraints. While earlier studies were mostly focused on abstract theoretical settings, recent work confirmed the occurrence of the…
Humanoid robots locomote by making and breaking contacts with their environment. A crucial problem is therefore to find precise criteria for a given contact to remain stable or to break. For rigid surface contacts, the most general…
This work presents a concise theoretical and computational framework for the finite element formulation of frictional contact problems with arbitrarily large deformation and sliding. The aim of this work is to extend the contact theory…
An exact transformation method is introduced that reduces the governing equations of a continuum structure coupled to strong nonlinearities to a low dimensional equation with memory. The method is general and well suited to problems with…
This article describes an absolutely stable, first-order constraint solverfor multi-rigid body systems that calculates (predicts) constraint forces for typical bilateral and unilateral constraints, contact constraints with friction, and…
We consider an optimal control problem $\cQ$ governed by an elliptic quasivariational inequality with unilateral constraints. The existence of optimal pairs of the problem is a well known result, see \cite{SS}, for instance. We associate to…
A modification of Coulomb's law of friction uses a variable coefficient of friction that depends on a power law in the energy of mechanical oscillation. Through the use of three different exponents: 0, 1/2 and 1; all commonly encountered…
We continue our study, started in arXiv:2212.00705, of (self-)collisions of viscoelastic solids in an inertial regime. We show existence of weak solutions with a corresponding contact force measure in the case of solids with only…
We derive a differential equation that is regular at the collision of two equal-mass bodies with attractive interaction in the relativistic action-at-a-distance electrodynamics. Our method uses the energy constant related to the…