A multibody loop constraints approach for modelling cam/follower devices
(2000) Nonlinear Dynamics : an international journal of nonlinear dynamics and chaos in engineering systems — Vol. 22, n° 4, p. 335-359 (2000)
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- Abstract
- This paper proposes a formulation for modelling mechanisms with a cam/follower type of contact using a multibody approach in relative coordinates. The proposed approach is inspired from the wheel/rail contact model developed by Fisette and Samin but, in the present case, possible intermittent contact between the cam and the follower is considered, for generality purposes. Loop kinematic constraints are introduced to satisfy tangent and punctual contact as long as the bodies lean against each other. The effective presence (or not) of the contact is governed by the sign of the normal constraint force which can be computed thanks to the Lagrange multipliers technique. The above-mentioned option to kinematically constraint the bodies in their 'contact phase' unavoidably leads to a shift from one model to another when a contact disappears (or, conversely, reappears). Indeed, this increases (or decreases) the number of degrees of freedom of the current system. The control of the variable partitioning is thus absolutely necessary and is all the more complex so that practical applications can contain several pairs of bodies in intermittent contact. Illustrative examples are proposed: a comparison with another multibody formalism, an experimental validation and the modelling of universal wheels of mobile robots which represents a quite original application of the proposed formulation.
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Fisette, P., Peterkenne, J., Vaneghem, B., & Samin, J.-C. (2000). A multibody loop constraints approach for modelling cam/follower devices. Nonlinear Dynamics : an international journal of nonlinear dynamics and chaos in engineering systems, 22(4), 335-359. https://doi.org/10.1023/A:1008316508951 (Original work published 2000)