University of Houston • University of Houston-Clear Lake • ISSO Annual Report Y2007• 93
FOLLOW-UP REPORT — INNOVATIONS AND NEW DEVELOPMENTS
Computational methods in non-smooth mechanics: Application to dry friction constrained motions
Abstract—NASA researchers need more sophisticated friction models and computational techniques. New models offer a better description of system behavior when velocities are close to zero. With improved numerical computational techniques, science can better solve higher-dimensional problems.
Summary
We studied the time-discretization of those relations modeling some elasto-dynamical systems with friction. The main goal of this project is to address similar problems using more sophisticated friction models and novel computational techniques. The new models give a better description of the system behavior when the velocities are close to zero. These investigations are motivated by the need for more accurate friction models in the software simulating the motion of mechanical systems, such as the remote manipulators of the Space Shuttle or of the International Space Station.
Results
We first studied several models of the constrained motion under consideration, including a rigorous formulation involving a kind of dynamical multiplier. Next, in order to treat friction, we introduced an implicit-explicit numerical scheme that is unconditionally stable and easy to implement. Finally, the above scheme was coupled, via operator-splitting, to schemes classically used to solve differential equations from frictionless elasto-dynamics. The above schemes were validated through a series of numerical experiments.
Funding and Proposals
Shiau, L. Friction constrained model, Texas Higher Education, ARP, $71,325 (2006–2008) (submitted).
Institute for Space Systems Operations - Y2007 Annual Report
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