Compliant contact versus rigid contact: A comparison in the context of granular dynamics
نویسندگان
چکیده
منابع مشابه
Compliant contact versus rigid contact: A comparison in the context of granular dynamics.
We summarize and numerically compare two approaches for modeling and simulating the dynamics of dry granular matter. The first one, the discrete-element method via penalty (DEM-P), is commonly used in the soft matter physics and geomechanics communities; it can be traced back to the work of Cundall and Strack [P. Cundall, Proc. Symp. ISRM, Nancy, France 1, 129 (1971); P. Cundall and O. Strack, ...
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In this paper, the main goal is to present an experimental comparison of the two prevailing contact modeling approaches of the bipedal locomotion, i. e. rigid versus compliant contact model. To do this, first, an explicit dynamics model for the robot multibody with rigid model of contact for various phases of walking is developed. Then, in order to develop a model with compliant contact, a phys...
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In this presentation, we discuss an intuitive model of the kinematics and dynamics of spatial compliant contact. The kinematic model gives a relation between the relative velocity of two rigid bodies and the velocities of two points on their surfaces that have smallest distance. The dynamic model uses a 6D spatial spring element to model the elastic forces between the bodies resulting from the ...
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ژورنال
عنوان ژورنال: Physical Review E
سال: 2017
ISSN: 2470-0045,2470-0053
DOI: 10.1103/physreve.96.042905