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On the Implementation of Coulomb Friction in a Volumetric-Based Model for Contact Dynamics

[+] Author Affiliations
Yves Gonthier, Christian Lange

Canadian Space Agency, Saint-Hubert, QC, Canada

John McPhee

University of Waterloo, Waterloo, ON, Canada

Paper No. DETC2007-35311, pp. 423-432; 10 pages
  • ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5: 6th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C
  • Las Vegas, Nevada, USA, September 4–7, 2007
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4806-X | eISBN: 0-7918-3806-4
  • Copyright © 2007 by The Government of Canada


A contact model based on volumetric properties is presented. The model properties are derived assuming the elastic behavior of the contacting objects can be approximated as a modified Winkler elastic foundation model, and that the contact surface between the objects is approximately flat. The resulting model includes friction and features a contact force proportional to the inter-penetration volume. The work shows that the Coulomb friction is affected by the relative motion. The contact model can be used as a general-purpose tool to model contact dynamics for a broad range of object shapes because the volumetric quantities that serve as input to the contact model can be determined for any object shape. A numerical simulation of a Tippe-Top is presented, and the results are shown to be consistent with published data, but with a higher spinning friction torque.

Copyright © 2007 by The Government of Canada



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