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fulltext04 - Multibody Syst Dyn(2010 23 99120 DOI...

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Multibody Syst Dyn (2010) 23: 99–120 DOI 10.1007/s11044-009-9173-3 An efficient and robust contact algorithm for a compliant contact force model between bodies of complex geometry Juhwan Choi · Han Sik Ryu · Chang Wan Kim · Jin Hwan Choi Received: 16 March 2009 / Accepted: 13 August 2009 / Published online: 24 September 2009 © Springer Science+Business Media B.V. 2009 Abstract Dynamic analysis of many mechanical systems often involves contacts among rigid bodies. When calculating the contact force with a compliant contact force model, a penetration depth and a contact reference frame (a contact point and normal and tan- gent directions) should be determined from the geometrical information of the rigid body surfaces. In order to improve the speed and robustness of the contact analysis, this paper proposes a contact search algorithm for surfaces composed of triangles. This algorithm is divided into two parts, the pre-search and the detailed search. In the pre-search, a bounding box tree and an overlap test are used to find intersecting triangle pairs, and triangle connec- tivity information is used to identify and separate multiple contact regions. Then an efficient and robust detailed search algorithm is proposed, where the penetration depth and contact reference frame are determined from the results of the pre-search. Finally, the contact force for each contact region is calculated from a modified compliant contact force model. Nu- merical examples are also presented to illustrate the accuracy and performance. Keywords Multibody dynamics · Contact search algorithm · Penetration depth · Multiple contact region · Compliant contact force model J. Choi ( ) School of Mechanical and Aerospace Engineering, Seoul National University, 599 Gwanak, Gwanak, Seoul, 151-742, Republic of Korea e-mail: [email protected] H.S. Ryu FunctionBay, Inc., 246-5, Seohyeon, Bundang, Seongnam, Gyeonggi, 463-824, Republic of Korea e-mail: [email protected] C.W. Kim School of Mechanical Engineering, KonKuk University, 1, Hwayang, Gwangjin, Seoul, 143-701, Republic of Korea e-mail: [email protected] J.H. Choi Department of Mechanical Engineering, KyungHee University, 1, Seochun, Kihung, Yongin, Gyeonggi, 449-701, Republic of Korea e-mail: [email protected]
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100 J. Choi et al. 1 Introduction Recently, the contact problem for multibody dynamics has been an issue not only for engi- neering problems but also for video game engines. Contact analysis between highly complex geometries which cannot be represented by simple surfaces, such as spheres and cylinders, is especially challenging. It is even challenging to perform contact analyses between less complex surfaces that can be represented with smooth splines. In general, contemporary multibody dynamics problems for both the analysis of realistic mechanical systems and virtual reality environments like those found in video games are composed of a large number of rigid bodies, constraints, and external forces. In a game engine, generally, accuracy is not a main concern because fast and reliable visualization is more important than accuracy. However, in engineering problems, accuracy is as important
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