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Unilateral Contact and Dry Friction in Finite Freedom Dynamics
Open accessAbstract
An approach to the dynamics of mechanical systems with a finite number of degrees of freedom, involving unilateral constraints, is developed. In the n-dimensional linear spaces of forces and velocities, some classical concepts of Convex Analysis are used, but no convexity assumption is made concerning the constraint inequalities. The velocity is not supposed to be a differentiable function of time, but only to have locally bounded variation, so the role of the acceleration is held by a n-dimensional measure on the considered time interval. Dynamics is then governed by measure differential inclusions, which treat possible velocity jumps on the same footing as smooth motions. Possible collisions are described as soft, thus dissipative. Friction is taken into account under a recently proposed expression of Coulomb’s law. These formulations have the advantage of generating numerical algorithms of time-discretization, able to handle, in particular, the nonsmooth effects arising from unilaterality and from dry friction.
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Cited by
Goebel, R., Sanfelice, R. G., & Teel, A. R. (2009) · IEEE Control Systems · doi:10.1109/mcs.2008.931718 · Cited by 1,656
Numerical Methods for Nonsmooth Dynamical Systems: Applications in Mechanics and Electronics
Acary, V., & Brogliato, B. (2008) · Lecture Notes in Applied and Computational Mechanics · doi:10.1007/978-3-540-75392-6 · Cited by 561
Metadata
- Authors
- Moreau, J. J.
- Venue
- Nonsmooth Mechanics and Applications
- Publisher
- Springer Vienna
- Published
- 1988
- Pages
- 1-82
- OpenAlex
- W1589352600
- Cited by
- 777
- References
- 0
- FWCI
- 9.31
- Type
- book chapter
- Language
- en
- Open access
- green
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- Moreau, J. J. (1988). Unilateral Contact and Dry Friction in Finite Freedom Dynamics. Nonsmooth Mechanics and Applications. https://doi.org/10.1007/978-3-7091-2624-0_1
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