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RESEARCH PAPERS

Simulation of Planar Dynamic Mechanical Systems With Changing Topologies—Part 1: Characterization and Prediction of the Kinematic Constraint Changes

[+] Author and Article Information
B. J. Gilmore

Department of Mechanical Engineering, The Pennsylvania State University, University Park, PA 16802

R. J. Cipra

School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907

J. Mech. Des 113(1), 70-76 (Mar 01, 1991) (7 pages) doi:10.1115/1.2912753 History: Received February 01, 1988; Online June 02, 2008

Abstract

Due to changes in the kinematic constraints, many mechanical systems are described by discontinuous equations of motion. This paper addresses those changes in the kinematic constraints which are caused by planar bodies contacting and separating. A strategy to automatically predict and detect the kinematic constraint changes, which are functions of the system dynamics, is presented in Part 1. The strategy employs the concepts of point to line contact kinematic constraints, force closure, and ray firing together with the information provided by the rigid bodies’ boundary descriptions, state variables, and reaction forces to characterize the kinematic constraint changes. Since the strategy automatically predicts and detects constraint changes, it is capable of simulating mechanical systems with unpredictable or unforessen changes in topology. Part 2 presents the implementation of the characterizations into a simulation strategy and presents examples.

Copyright © 1991 by The American Society of Mechanical Engineers
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