Canonical Impulse-Momentum Equations for Impact Analysis of Multibody Systems

[+] Author and Article Information
H. M. Lankarani

Mechanical Engineering Department, Wichita State University, Wichita, KS 67208

P. E. Nikravesh

Department of Aerospace and Mechanical Engineering, The University of Arizona, Tucson, AZ 85721

J. Mech. Des 114(1), 180-186 (Mar 01, 1992) (7 pages) doi:10.1115/1.2916914 History: Received March 01, 1989; Revised December 01, 1990; Online June 02, 2008


For mechanical systems that undergo intermittent motion, the usual formulation of the equations of motion is not valid over the periods of discontinuity, and a procedure for balancing the momenta of these systems is often performed. A canonical form of the equations of motion is used here as the differential equations of motion. A set of momentum balance-impulse equations is derived in terms of a system total momenta by explicitly integrating the canonical equations. The method is stable when the canonical equations are numerically integrated and it is efficient when the derived momentum balance-impulse equations are solved. The method shows that the constraint violation phenomenon, which is usually caused by the numerical integration error, can be substantially reduced as compared to the numerical integration of the standard Newtonian form of equations of motion. Examples are provided to illustrate the validity of the method.

Copyright © 1992 by The American Society of Mechanical Engineers
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