关键词: 摩擦, 平面多刚体系统, 冲击, 分段分析

Abstract: The impulsive dynamics of planar multi-rigid-body systems with friction is studied. When impact applies on a planar multi-rigid-body system in which one of the constraints is a constant constraint with coulomb friction, the phenomenon of slip-stick and slip-reversal at the frictional applied point can cause the change of frictional force and make it impossible to integrate the frictional force over the impact interval according to the traditional impulsive dynamics of multi-rigid-body systems. Under considering slip-stick and slip-reversal phenomena and keeping the traditional approximate assumptions of impact, the method of piecewise analysis during the finite region of impulse is used and the theoretical solution of the impact problem of planar multi-rigid-body systems with friction is obtained, i.e., the dynamic response after the impact can be obtained according to initial conditions before the impact and geometry properties of the system by using the formulation provided. The example here validates the rationality of the expressions.

Key words: friction, planar multi-rigid-body system, impact, piecewise analysis