Simulation of Impacts between Spherical Rigid Bodies with Frictional Effects

Abstract

This work studies the impact between spherical rigid bodies in the frame of nonsmooth contact dynamics considering friction effects. A new impact element formulation based on the classical instantaneous local Newton impact law is presented. The kinematics properties of the spheres are described by a rigid body formulation with translational and rotational degrees of freedom referred to an inertial frame. In addition, an extension of the nonsmooth generalized-alpha time integration scheme applied to collisions with multiple impacts including Coulomb’s friction e law is given. Six numerical examples are presented to evaluate the robustness and the performance of the proposed methodology.