This paper addresses methods for determining the motion of an elastically suspended rigid body in frictional contact at multiple distinct locations. The methods developed assume that: (1) The motion of the support from which the body is suspended and the elastic behavior of the suspension are known; (2) inertial forces are negligible (motion is quasi-static); and (3) the contact is characterized by Coulomb friction. The derived coupled set of spatial rigid body equations is used to determine both the unknown direction of the friction force (at each point of contact) and the unknown motion of the rigid body. The uniqueness of the set of active constraints when considering multipoint contact is also addressed. We show that, for any passive compliant system, if the coefficient of friction at each contact is upper bounded, the set of active constraints is unique. A procedure to determine both the set of active constraints and the motion of the constrained body is provided.
Skip Nav Destination
e-mail: huangs@marquette.edu
e-mail: j.schimmels@marquette.edu
Article navigation
December 2005
Technical Papers
The Motion of a Compliantly Suspended Rigid Body Constrained by Multipoint Frictional Contact
Shuguang Huang,
Shuguang Huang
Department of Mechanical and Industrial Engineering,
e-mail: huangs@marquette.edu
Marquette University
, Milwaukee, WI 53201-1881
Search for other works by this author on:
Joseph M. Schimmels
Joseph M. Schimmels
Department of Mechanical and Industrial Engineering,
e-mail: j.schimmels@marquette.edu
Marquette University
, Milwaukee, WI 53201-1881
Search for other works by this author on:
Shuguang Huang
Department of Mechanical and Industrial Engineering,
Marquette University
, Milwaukee, WI 53201-1881e-mail: huangs@marquette.edu
Joseph M. Schimmels
Department of Mechanical and Industrial Engineering,
Marquette University
, Milwaukee, WI 53201-1881e-mail: j.schimmels@marquette.edu
J. Dyn. Sys., Meas., Control. Dec 2005, 127(4): 623-632 (10 pages)
Published Online: January 24, 2005
Article history
Received:
February 23, 2004
Revised:
January 24, 2005
Citation
Huang, S., and Schimmels, J. M. (January 24, 2005). "The Motion of a Compliantly Suspended Rigid Body Constrained by Multipoint Frictional Contact." ASME. J. Dyn. Sys., Meas., Control. December 2005; 127(4): 623–632. https://doi.org/10.1115/1.2098878
Download citation file:
46
Views
Get Email Alerts
Cited By
Offline and Online Exergy-Based Strategies for Hybrid Electric Vehicles
J. Dyn. Sys., Meas., Control (May 2025)
Multi Combustor Turbine Engine Acceleration Process Control Law Design
J. Dyn. Sys., Meas., Control
A Distributed Layered Planning and Control Algorithm for Teams of Quadrupedal Robots: An Obstacle-Aware Nonlinear Model Predictive Control Approach
J. Dyn. Sys., Meas., Control (May 2025)
Active Data-Enabled Robot Learning of Elastic Workpiece Interactions
J. Dyn. Sys., Meas., Control (May 2025)
Related Articles
Discussion: “A Greenwood–Williamson Model of Small-Scale Friction” ( Jones, R. E., 2007, ASME J. Appl. Mech., 74, pp. 31–40 )
J. Appl. Mech (July,2008)
Abnormal Tribological Behavior of Multiwalled Nanotube Rafts Part I: Aligned Rafts
J. Eng. Mater. Technol (October,2005)
Rolling Contacts. Tribology in Practice Series
Appl. Mech. Rev (May,2002)
Abnormal Tribological Behavior of Multiwalled Nanotube Rafts Part II: Inclined Rafts
J. Eng. Mater. Technol (October,2005)
Related Proceedings Papers
Related Chapters
Heat Generated in Pipe Flows Due to Friction
Everyday Heat Transfer Problems: Sensitivities to Governing Variables
Friction and Wear of Polymers and Composites
Tribology of Mechanical Systems: A Guide to Present and Future Technologies
Surface Analysis and Tools
Tribology of Mechanical Systems: A Guide to Present and Future Technologies