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Benchmark Problems for Contact Dynamics in Multibody Systems

Presentation · January 2014

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 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Benchmark Problems for Contact Dynamics in

Multibody Systems

Ramin Masoudi1 , Paulo Flores2 , John McPhee1

1 Department of Systems Design Engineering,

University of Waterloo, Canada

2
Department of Mechanical Engineering,
University of Minho, Guimarães, Portugal

The 3rd Joint International Conference on Multibody System Dynamics - IMSD 2014
30 June - 03 July 2014

1 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Outline

1 Introduction

2 Classification of contact dynamics problems

3 Contact dynamics – modeling and solution criteria

4 Contact dynamics – a benchmark problem

5 Summary and future work

2 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Outline

1 Introduction

2 Classification of contact dynamics problems

3 Contact dynamics – modeling and solution criteria

4 Contact dynamics – a benchmark problem

5 Summary and future work

3 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Contact problems in multibody systems

Y Contact phenomenon in mechanical systems
Contact mechanics
Stress – strain distributions
Wave propagation
Continuum mechanics formulations
Design of mechanical systems

Contact dynamics
Dynamic parameters, e.g. force, impulse, velocity
Impact-induced waves
Force – deformation/impulse – momentum formalisms
Simulation of multibody systems

Y Benchmarking contact dynamics problems aims at

Systematic treatment of various contact dynamics scenarios
Classifying multibody systems including contact
Introducing new benchmark problems
4 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Contact problems in multibody systems

Y Contact phenomenon in mechanical systems
Contact mechanics
Stress – strain distributions
Wave propagation
Continuum mechanics formulations
Design of mechanical systems

Contact dynamics
Dynamic parameters, e.g. force, impulse, velocity
Impact-induced waves
Force – deformation/impulse – momentum formalisms
Simulation of multibody systems

Y Benchmarking contact dynamics problems aims at

Systematic treatment of various contact dynamics scenarios
Classifying multibody systems including contact
Introducing new benchmark problems
4 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Contact problems in multibody systems

Y Contact phenomenon in mechanical systems
Contact mechanics
Stress – strain distributions
Wave propagation
Continuum mechanics formulations
Design of mechanical systems

Contact dynamics
Dynamic parameters, e.g. force, impulse, velocity
Impact-induced waves
Force – deformation/impulse – momentum formalisms
Simulation of multibody systems

Y Benchmarking contact dynamics problems aims at

Systematic treatment of various contact dynamics scenarios
Classifying multibody systems including contact
Introducing new benchmark problems
4 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Contact problems in multibody systems

Y Contact phenomenon in mechanical systems
Contact mechanics
Stress – strain distributions
Wave propagation
Continuum mechanics formulations
Design of mechanical systems

Contact dynamics
Dynamic parameters, e.g. force, impulse, velocity
Impact-induced waves
Force – deformation/impulse – momentum formalisms
Simulation of multibody systems

Y Benchmarking contact dynamics problems aims at

Systematic treatment of various contact dynamics scenarios
Classifying multibody systems including contact
Introducing new benchmark problems
4 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Contact problems in multibody systems

Y Contact phenomenon in mechanical systems
Contact mechanics
Stress – strain distributions
Wave propagation
Continuum mechanics formulations
Design of mechanical systems

Contact dynamics
Dynamic parameters, e.g. force, impulse, velocity
Impact-induced waves
Force – deformation/impulse – momentum formalisms
Simulation of multibody systems

Y Benchmarking contact dynamics problems aims at

Systematic treatment of various contact dynamics scenarios
Classifying multibody systems including contact
Introducing new benchmark problems
4 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Motion constraints in multibody systems

Y A typical multibody system with bilateral and unilateral constraints
Fext
Bilateral constraints are permanent 

Revolute joints
Prismatic joints
Fext
Spring & dampers


Unilateral constraints are temporary 

Collisions Fext Fext
Sliding and rolling connections
Actuators 

Fc
Y In systems with unilateral constraints Fext
Fc

State evolution −→ constraints changing
⇓
Time-variant structure/topology systems

5 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Motion constraints in multibody systems

Y A typical multibody system with bilateral and unilateral constraints
Fext
Bilateral constraints are permanent 

Revolute joints
Prismatic joints
Fext
Spring & dampers


Unilateral constraints are temporary 

Collisions Fext Fext
Sliding and rolling connections
Actuators 

Fc
Y In systems with unilateral constraints Fext
Fc

State evolution −→ constraints changing
⇓
Time-variant structure/topology systems

5 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Motion constraints in multibody systems

Y A typical multibody system with bilateral and unilateral constraints
Fext
Bilateral constraints are permanent 

Revolute joints
Prismatic joints
Fext
Spring & dampers


Unilateral constraints are temporary 

Collisions Fext Fext
Sliding and rolling connections
Actuators 

Fc
Y In systems with unilateral constraints Fext
Fc

State evolution −→ constraints changing
⇓
Time-variant structure/topology systems

5 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Motion constraints in multibody systems

Y A typical multibody system with bilateral and unilateral constraints
Fext
Bilateral constraints are permanent 

Revolute joints
Prismatic joints
Fext
Spring & dampers


Unilateral constraints are temporary 

Collisions Fext Fext
Sliding and rolling connections
Actuators 

Fc
Y In systems with unilateral constraints Fext
Fc

State evolution −→ constraints changing
⇓
Time-variant structure/topology systems

5 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Motion constraints in multibody systems

Y A typical multibody system with bilateral and unilateral constraints
Fext
Bilateral constraints are permanent 

Revolute joints
Prismatic joints
Fext
Spring & dampers


Unilateral constraints are temporary 

Collisions Fext Fext
Sliding and rolling connections
Actuators 

Fc
Y In systems with unilateral constraints Fext
Fc

State evolution −→ constraints changing
⇓
Time-variant structure/topology systems

5 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Motion constraints in multibody systems

Y A typical multibody system with bilateral and unilateral constraints
Fext
Bilateral constraints are permanent 

Revolute joints
Prismatic joints
Fext
Spring & dampers


Unilateral constraints are temporary 

Collisions Fext Fext
Sliding and rolling connections
Actuators 

Fc
Y In systems with unilateral constraints Fext
Fc

State evolution −→ constraints changing
⇓
Time-variant structure/topology systems

5 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Outline

1 Introduction

2 Classification of contact dynamics problems

3 Contact dynamics – modeling and solution criteria

4 Contact dynamics – a benchmark problem

5 Summary and future work

6 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Classification schemes
Y Contact categories - materials & geometry
Smooth Rough




Contact force
Surface
properties
fc

Point
Dissipative Penetration
contact

Distributed Contact Energy trans-

contact
Contact properties Elastic
interfaces formation




Vn

Central
Geometry Oblique Vimpact Vt
factors

Eccentric Direct

7 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Classification schemes
Y Contact categories - materials & geometry
Smooth Rough




Contact force
Surface
properties
fc

Point
Dissipative Penetration
contact

Distributed Contact Energy trans-

contact
Contact properties Elastic
interfaces formation




Vn

Central
Geometry Oblique Vimpact Vt
factors

Eccentric Direct

7 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Classification schemes
Y Contact categories - materials & geometry
Smooth Rough




Contact force
Surface
properties
fc

Point
Dissipative Penetration
contact

Distributed Contact Energy trans-

contact
Contact properties Elastic
interfaces formation




Vn

Central
Geometry Oblique Vimpact Vt
factors

Eccentric Direct

7 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Classification schemes
Y Contact categories - materials & geometry
Smooth Rough




Contact force
Surface
properties
fc

Point
Dissipative Penetration
contact

Distributed Contact Energy trans-

contact
Contact properties Elastic
interfaces formation




Vn

Central
Geometry Oblique Vimpact Vt
factors

Eccentric Direct

7 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Classification schemes
Y Contact categories - materials & geometry
Smooth Rough




Contact force
Surface
properties
fc

Point
Dissipative Penetration
contact

Distributed Contact Energy trans-

contact
Contact properties Elastic
interfaces formation




Vn

Central
Geometry Oblique Vimpact Vt
factors

Eccentric Direct

7 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Classification schemes
Y Contact categories - materials & geometry
Smooth Rough




Contact force
Surface
properties
fc

Point
Dissipative Penetration
contact

Distributed Contact Energy trans-

contact
Contact properties Elastic
interfaces formation




Vn

Central
Geometry Oblique Vimpact Vt
factors

Eccentric Direct

7 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Classification schemes
Y Contact categories - materials & geometry
Smooth Rough




Contact force
Surface
properties
fc

Point
Dissipative Penetration
contact

Distributed Contact Energy trans-

contact
Contact properties Elastic
interfaces formation




Vn

Central
Geometry Oblique Vimpact Vt
factors

Eccentric Direct

7 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Classification schemes
Y Contact dynamics – different analysis approaches

. .
Also known as Also known as
û Continuous analysis Regularized Non-smooth û Rigid approach
7 Force-based method approach models 7 Discrete model
Y Compliant contact Y Impact analysis
. .

Contact dynamics

8 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Classification schemes
Y Contact dynamics – different analysis approaches

. .
Also known as Also known as
û Continuous analysis Regularized Non-smooth û Rigid approach
7 Force-based method approach models 7 Discrete model
Y Compliant contact Y Impact analysis
. .

Contact dynamics

8 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Classification schemes
Y Contact dynamics – different analysis approaches

. .
Also known as Also known as
û Continuous analysis Regularized Non-smooth û Rigid approach
7 Force-based method approach models 7 Discrete model
Y Compliant contact Y Impact analysis
. .

Contact dynamics

8 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Classification schemes
Y Contact dynamics – different analysis approaches

. .
Also known as Also known as
û Continuous analysis Regularized Non-smooth û Rigid approach
7 Force-based method approach models 7 Discrete model
Y Compliant contact Y Impact analysis
. .

Contact dynamics

8 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Classification schemes
Y Contact dynamics – different analysis approaches

. .
Also known as Also known as
û Continuous analysis Regularized Non-smooth û Rigid approach
7 Force-based method approach models 7 Discrete model
Y Compliant contact Y Impact analysis
. .

Contact dynamics

Y Contact/Impact is characterized by Si
p

Pj
X3 Ri d
Contact detection, minimum distance p
Pi
Pj
Pi
R
condition along with X2
i
p
Rj p
n
Sj
Rj
nj × ni = 0 & d × ni = 0 X1

Reaction forces → change in the

velocities of interacting bodies
8 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Outline

1 Introduction

2 Classification of contact dynamics problems

3 Contact dynamics – modeling and solution criteria

4 Contact dynamics – a benchmark problem

5 Summary and future work

9 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Contact dynamics – physic-based modeling

Y Contact dynamics – solution approaches

In non-smooth approach:
Contact duration is assumed extremely short
Impulse-momentum schemes are applied
Coefficient of restitution is involved, Newton’s, Poisson’s, and Stronge’s models
Multiple contacts and intermittent contacts modeling are quite complicated

In continuous approach:
Interaction forces act in a continuous manner
Equivalent stiffness, damping behavior, and indentation nonlinearity are to be
estimated
The obtained governing differential equations are stiff
Statistical procedures are promising to include micro-level behavior

10 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Contact dynamics – physic-based modeling

Y Contact dynamics – solution approaches

In non-smooth approach:
Contact duration is assumed extremely short
Impulse-momentum schemes are applied
Coefficient of restitution is involved, Newton’s, Poisson’s, and Stronge’s models
Multiple contacts and intermittent contacts modeling are quite complicated

In continuous approach:
Interaction forces act in a continuous manner
Equivalent stiffness, damping behavior, and indentation nonlinearity are to be
estimated
The obtained governing differential equations are stiff
Statistical procedures are promising to include micro-level behavior

10 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Contact dynamics – physic-based modeling

Y Contact dynamics – solution approaches

In non-smooth approach:
Contact duration is assumed extremely short
Impulse-momentum schemes are applied
Coefficient of restitution is involved, Newton’s, Poisson’s, and Stronge’s models
Multiple contacts and intermittent contacts modeling are quite complicated

In continuous approach:
Interaction forces act in a continuous manner
Equivalent stiffness, damping behavior, and indentation nonlinearity are to be
estimated
The obtained governing differential equations are stiff
Statistical procedures are promising to include micro-level behavior

10 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Y Contact dynamics – Multibody systems

In multibody systems

11 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Y Contact dynamics – Multibody systems

In multibody systems

Non-smooth models Regularized models

11 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Y Contact dynamics – Multibody systems

In multibody systems

Non-smooth models Regularized models

F Linear complementarity formulation,

planar friction or spatial frictionless contacts
F Augmented Lagrangian method,
transform inequality constraints into equivalent
equations using proximal point of the convex
analysis
F Newton’s model, frictionless contact
F Poisson’s model, friction contact

11 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Y Contact dynamics – Multibody systems

In multibody systems

Non-smooth models Regularized models

F Linear complementarity formulation,

planar friction or spatial frictionless contacts
F Augmented Lagrangian method,
transform inequality constraints into equivalent
equations using proximal point of the convex
analysis
F Newton’s model, frictionless contact
F Poisson’s model, friction contact

F Event-driven schemes,
accurate but time consuming, applicable
for few contacts
F Time-stepping schemes, fast,
no contact indicators are required

11 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Y Contact dynamics – Multibody systems

In multibody systems

Non-smooth models Regularized models

F Linear complementarity formulation, F Rigid impact formulation, contact

planar friction or spatial frictionless contacts forces are introduced to the dynamic equations
using constraint Jacobian
F Augmented Lagrangian method,
transform inequality constraints into equivalent F Explicit continuous formulation,
equations using proximal point of the convex motion is influenced by elastodynamic forces
analysis F Implicit continuous formulation, finite
F Newton’s model, frictionless contact element formulations
F Poisson’s model, friction contact

F Event-driven schemes,
accurate but time consuming, applicable
for few contacts
F Time-stepping schemes, fast,
no contact indicators are required

11 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Y Contact dynamics – Multibody systems

In multibody systems

Non-smooth models Regularized models

F Linear complementarity formulation, F Rigid impact formulation, contact

planar friction or spatial frictionless contacts forces are introduced to the dynamic equations
using constraint Jacobian
F Augmented Lagrangian method,
transform inequality constraints into equivalent F Explicit continuous formulation,
equations using proximal point of the convex motion is influenced by elastodynamic forces
analysis F Implicit continuous formulation, finite
F Newton’s model, frictionless contact element formulations
F Poisson’s model, friction contact

F Event-driven schemes, F DAEs/ODEs solvers

accurate but time consuming, applicable F Penalty methods, constraints
for few contacts are included in the motion equations
F Time-stepping schemes, fast, with a penalty parameter
no contact indicators are required

11 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Outline

1 Introduction

2 Classification of contact dynamics problems

3 Contact dynamics – modeling and solution criteria

4 Contact dynamics – a benchmark problem

5 Summary and future work

12 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

A benchmark problem
Y A piano action mechanism (as a multibody multi-contact system)
five main bodies; flexible and rigid
Damper
bilateral and unilateral connections Hammer

interfaces covered with felt

Butt spring
16 contact locations Bridle strap

friction at micro- and macro- level

Backcheck
String

x 10
5
Let−off button Key
3
Loading − Experiment
Jack
Macroscopic pressure, P (Pa)

Loading − Simulation
2.5 Unloading − Simulation
Unloading − Experiment Whippen
2

1.5 Capstan
1
Balance rail

 0.5

0
0.39 0.4 0.41 0.42 0.43 0.44 0.45
Volume fraction, v f




13 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

A benchmark problem
Y A piano action mechanism (as a multibody multi-contact system)
five main bodies; flexible and rigid
Damper
bilateral and unilateral connections Hammer

interfaces covered with felt

Butt spring
16 contact locations Bridle strap

friction at micro- and macro- level

Backcheck
String

x 10
5
Let−off button Key
3
Loading − Experiment
Jack
Macroscopic pressure, P (Pa)

Loading − Simulation
2.5 Unloading − Simulation
Unloading − Experiment Whippen
2

1.5 Capstan
1
Balance rail

 0.5

0
0.39 0.4 0.41 0.42 0.43 0.44 0.45
Volume fraction, v f




13 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

A benchmark problem
Y A piano action mechanism (as a multibody multi-contact system)
five main bodies; flexible and rigid
Damper
bilateral and unilateral connections Hammer

interfaces covered with felt

Butt spring
16 contact locations Bridle strap

friction at micro- and macro- level

Backcheck
String

x 10
5
Let−off button Key
3
Loading − Experiment
Jack
Macroscopic pressure, P (Pa)

Loading − Simulation
2.5 Unloading − Simulation
Unloading − Experiment Whippen
2

1.5 Capstan
1
Balance rail

 0.5

0
0.39 0.4 0.41 0.42 0.43 0.44 0.45
Volume fraction, v f




13 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

A benchmark problem
Y A piano action mechanism (as a multibody multi-contact system)
five main bodies; flexible and rigid
Damper
bilateral and unilateral connections Hammer

interfaces covered with felt

Butt spring
16 contact locations Bridle strap

friction at micro- and macro- level

Backcheck
String

x 10
5
Let−off button Key
3
Loading − Experiment
Jack
Macroscopic pressure, P (Pa)

Loading − Simulation
2.5 Unloading − Simulation
Unloading − Experiment Whippen
2

1.5 Capstan
1
Balance rail

 0.5

0
0.39 0.4 0.41 0.42 0.43 0.44 0.45
Volume fraction, v f




13 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

A benchmark problem
Y A piano action mechanism (as a multibody multi-contact system)
five main bodies; flexible and rigid
Damper
bilateral and unilateral connections Hammer

interfaces covered with felt

Butt spring
16 contact locations Bridle strap

friction at micro- and macro- level

Backcheck
String

x 10
5
Let−off button Key
3
Loading − Experiment
Jack
Macroscopic pressure, P (Pa)

Loading − Simulation
2.5 Unloading − Simulation
Unloading − Experiment Whippen
2

1.5 Capstan
1
Balance rail

 0.5

0
0.39 0.4 0.41 0.42 0.43 0.44 0.45
Volume fraction, v f




13 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Elastic compression
Y A micromechanical contact scheme

Euler–Bernoulli beam theory X3

Contact forces in micro-level

Bulk pressure in terms of macro deformation
Pf (q,f)

Pf (q,f)
!3  Pf (q,f)
η h i 
η η Pf (q,f)
P = Kp (1 − η) 2 + (3/2) 1−η − Qγv Pf (q,f)
Qγ(1 − η) f

Pf (q,f)
Test Fiber
Pf (q,f)
Pf (q,f)

C3 X2

X3 FY
C3t X1
C3n

X2 δY

X1

14 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Elastic compression
Y A micromechanical contact scheme

Euler–Bernoulli beam theory X3

Contact forces in micro-level

P
Bulk pressure in terms of macro deformation
Pf (q,f)

Pf (q,f)
!3  Pf (q,f)
η h i 
η η Pf (q,f)
P = Kp (1 − η) 2 + (3/2) 1−η − Qγv Pf (q,f)
Qγ(1 − η) f

Pf (q,f)
Test Fiber
Pf (q,f)
Pf (q,f)

C3 X2

X3 FY
C3t X1
C3n

X2 δY

X1

14 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Compression hysteresis
Y Experiments on felt reveal: 250
3.15 m/s
1.59 m/s
200
Lack of viscoelastic response in compression behavior 1.00 m/s

Force (N)
150
Hysteresis due to fiber-to-fiber friction
100 ing
ad
Lo
Existence of withdrawal force between fibers g
50 in
ad
lo
Un
0
0 0.2 0.4 0.6 0.8 1
Compression (mm)

15 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Compression hysteresis
Y Experiments on felt reveal: 250
3.15 m/s
1.59 m/s
200
Lack of viscoelastic response in compression behavior 1.00 m/s

Force (N)
150
Hysteresis due to fiber-to-fiber friction
100 ing
ad
Lo
Existence of withdrawal force between fibers g
50 in
ad
lo
Un
0
0 0.2 0.4 0.6 0.8 1
Y Two subnetworks are imagined: Compression (mm)

1 A bounded network of non-sliding contacts, represents
 λ
elastic response 

λ
μ



Cjt ≥ µCjn + Wf0 λ ⇒ Cj cos(θcr ) = µCj sin(θcr ) + Wf0 λ θ
  
φ



15 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Compression hysteresis
Y Experiments on felt reveal: 250
3.15 m/s
1.59 m/s
200
Lack of viscoelastic response in compression behavior 1.00 m/s

Force (N)
150
Hysteresis due to fiber-to-fiber friction
100 ing
ad
Lo
Existence of withdrawal force between fibers g
50 in
ad
lo
Un
0
0 0.2 0.4 0.6 0.8 1
Y Two subnetworks are imagined: Compression (mm)

1 A bounded network of non-sliding contacts, represents
 λ
elastic response 

λ
μ



Cjt ≥ µCjn + Wf0 λ ⇒ Cj cos(θcr ) = µCj sin(θcr ) + Wf0 λ θ
  
φ
2 Fibers that slide, generate hysteresis
Z θcrZ π 
rsc = Ω(φ, θ) sin(θ) dθ dφ
0 0

15 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Contact force modeling

Nonlinear hysteretic behavior of contact
in interfaces: 30

0.45 2.5

 25 2
0.4
if sn ≥ 0

Contact Force (N)

FL (xp )

 1.5

Fn (xp , sn ) = 20 0.35
1

FL (xp ) + δ
 (xp ) tanh(αsn ) if sn < 0 0.5
LU 0.3
15
1.76 1.8 1.84 0
−4
x 10 0 1 2 3 4 5
−4
x 10
10

5 Simulation
Loading
Unloading
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4
Penetration (m) −3
x 10

16 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Contact force modeling

Nonlinear hysteretic behavior of contact
in interfaces: 30

0.45 2.5

 25 2
0.4
if sn ≥ 0

Contact Force (N)

FL (xp )

 1.5

Fn (xp , sn ) = 20 0.35
1

FL (xp ) + δ
 (xp ) tanh(αsn ) if sn < 0 0.5
LU 0.3
15
1.76 1.8 1.84 0
−4
x 10 0 1 2 3 4 5
−4
x 10
10
amic Model 25

5 Simulation
0.8 Loading
Piecewise −vt
Smoothed Unloading
0.6
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4
0.4 Penetration (m) −3
Coefficient of Friction, µ

x 10
0.2

0
Tangential friction model:
−0.2
 
−0.4
B1 st /υt
Ft ≤ µs Fn , µs = A tanh st /υt +
4 
−0.6 1 + B2 st /υt
vt
−0.8
−6 −4 −2 0 2 4 6
Tangential Speed (m/s) −5
x 10

Figure 2.7: Piecewise and Smoothed Friction Curves

16 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Outline

1 Introduction

2 Classification of contact dynamics problems

3 Contact dynamics – modeling and solution criteria

4 Contact dynamics – a benchmark problem

5 Summary and future work

17 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Summary & future work

Summary & Future work:

Contact dynamics problems in multibody systems were introduced.

Some well-established contact modeling, formulation schemes, and computer
implementation were presented.
A sophisticated benchmark problem including contact and friction was discussed.
More realistic contact modeling can be acquired by relating micro-level physics to bulk
behavior of the contact.
There is ample room for future improvement in the field of continuous contact
modeling to replace empirical equivalent models with physics-based systems.

18 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Summary & future work

Summary & Future work:

Contact dynamics problems in multibody systems were introduced.

Some well-established contact modeling, formulation schemes, and computer
implementation were presented.
A sophisticated benchmark problem including contact and friction was discussed.
More realistic contact modeling can be acquired by relating micro-level physics to bulk
behavior of the contact.
There is ample room for future improvement in the field of continuous contact
modeling to replace empirical equivalent models with physics-based systems.

18 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Summary & future work

Summary & Future work:

Contact dynamics problems in multibody systems were introduced.

Some well-established contact modeling, formulation schemes, and computer
implementation were presented.
A sophisticated benchmark problem including contact and friction was discussed.
More realistic contact modeling can be acquired by relating micro-level physics to bulk
behavior of the contact.
There is ample room for future improvement in the field of continuous contact
modeling to replace empirical equivalent models with physics-based systems.

18 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Summary & future work

Summary & Future work:

Contact dynamics problems in multibody systems were introduced.

Some well-established contact modeling, formulation schemes, and computer
implementation were presented.
A sophisticated benchmark problem including contact and friction was discussed.
More realistic contact modeling can be acquired by relating micro-level physics to bulk
behavior of the contact.
There is ample room for future improvement in the field of continuous contact
modeling to replace empirical equivalent models with physics-based systems.

18 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Summary & future work

Summary & Future work:

Contact dynamics problems in multibody systems were introduced.

Some well-established contact modeling, formulation schemes, and computer
implementation were presented.
A sophisticated benchmark problem including contact and friction was discussed.
More realistic contact modeling can be acquired by relating micro-level physics to bulk
behavior of the contact.
There is ample room for future improvement in the field of continuous contact
modeling to replace empirical equivalent models with physics-based systems.

18 / 19
 Introduction
Classification of contact dynamics problems
Contact dynamics – modeling and solution criteria
Contact dynamics – a benchmark problem
Summary and future work

Acknowledgement

View publication stats 19 / 19