Rigid body dynamic simulation with line and surface contact
Rigid body dynamic simulation with line and surface contact
复制标题
线面接触的刚体动力学仿真
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
N. Chakraborty
中科院分区：
文献类型：
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作者：
Jiayin Xie;N. Chakraborty
在本文中，我们开发了一个原则性的方法来模拟线和面接触与点接触，是一致的基于物理的模型的表面（线）接触。我们解决了接触检测和动态模拟的步骤，同时制定的问题作为一个混合的非线性互补问题。这使我们能够同时计算压力中心以及压力中心处的力（与摩擦模型一致）以及刚性物体的配置和速度。沿着。本文提出了一种几何隐式的时间推进方法，用于凸接触区两体接触的动力学模拟，包括二维线接触、三维面接触和三维线接触。我们证明了，对于面接触和线接触，对于任何值的质量中心的速度的对象，有一个唯一的解决方案，接触点和接触扳手，满足离散时间的运动方程。对于纯平移和纯旋转，我们表明，有一个封闭的形式的解决方案，每个离散的时间步，如果接触模式不改变。仿真例子证明了我们的方法的有效性，并表明，与我们的方法，我们可以无缝转换点，线，面接触。
In this paper, we develop a principled method to model line and surface contact with point contacts that is consistent with physics-based models of surface (line) contact. We solve the contact detection and dynamic simulation step simultaneously by formulating the problem as a mixed nonlinear complementarity problem. This allows us to simultaneously compute the centre of pressure as well as the forces at the centre of pressure (consistent with the friction model) along with the configuration and velocities of the rigid objects. We present a geometrically implicit time-stepping scheme for dynamic simulation for contacts between two bodies with convex contact area, which includes 2D line contact, 3D surface contact, and 3D line contact. We prove that for surface and line contact, for any value of the velocity of center of mass of the object, there is a unique solution for contact point and contact wrench that satisfies the discrete-time equations of motion. For pure translation and pure rotation, we show that there is a closed form solution for each discrete time-step if the contact mode does not change. Simulation examples are shown to demonstrate the validity of our approach and show that with our approach we can seamlessly transition between point, line, and surface contacts.