An efficient and robust contact algorithm for a compliant contact force model between bodies of complex geometry
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Publication:2655359
The authors present a contact algorithm for surfaces modeled by triangles. The algorithm uses a preliminary search to determine intersecting triangle pairs, and then, employing these results, the algorithm performs a refined detailed search which ultimately provides contact forces for the contacting region. The algorithm is illustrated via two numerical examples. The paper could be of interest and use to designers of robot end-effectors and other types of graspers.
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Cites work
- A contact force solution for non-colliding contact dynamics simulation
- A Time Integration Algorithm for Structural Dynamics With Improved Numerical Dissipation: The Generalized-α Method
- An algorithm for compliant contact between complexly shaped bodies
- Computing the intersection-depth to polyhedra
- Contact Mechanics
- Efficient Collision Detection of Complex Deformable Models using AABB Trees
- scientific article; zbMATH DE number 1280933 (Why is no real title available?)
Cited in
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- Historical origin and recent development on normal directional impact models for rigid body contact simulation: a critical review
- Dynamic simulation analysis and experimental study of an industrial robot with novel joint reducers
- Geometrically exact theory for contact interactions of 1D manifolds. Algorithmic implementation with various finite element models
- Computational contact mechanics. Geometrically exact theory for arbitrary shaped bodies
- Fast Solving of Contact Problems on Complicated Geometries
- A 2D polygon/polygon contact model: algorithmic aspects
- A scalable parallel method for large collision detection problems
- An efficient algorithm for rigid/deformable contact interaction based on the dual mortar method
- On the contact detection for contact-impact analysis in multibody systems
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- Critical features of centrifugal pendulum vibration absorbers dynamic modeling
- On the continuous contact force models for soft materials in multibody dynamics
- Polygonal contact model revisited: notes on usage and improved implementation
- Dynamic reconstruction of signed distance field for efficient contact analysis of irregular deformable bodies
- Flexible multibody approaches for simulating the deflection and contact mechanics of toothbrush bristles: modelling and testing
- A nonsmooth dynamics framework for simulating frictionless spatial joints with clearances
- Analysis of a generalized kinematic impact law for multibody-multicontact systems, with application to the planar rocking block and chains of balls
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