Dynamic analysis of multiple inclined and frictional impact-contacts in multi-branch robotic systems

•The dynamic modeling of multiple inclined impact-contacts in multi-branch robotic systems has been presented.•The G–A formulation, the regularized method, and the friction force model have been used to model the system's equations.•A criterion for choosing the most suitable contact and frictio...

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Veröffentlicht in:	Applied Mathematical Modelling 2021-03, Vol.91, p.24-42
Hauptverfasser:	Ahmadizadeh, M., Shafei, A.M., Fooladi, M.
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Contact force model Differential equations Enclosures Equations of motion Gibbs–Appell formulation Impact loads Inclined Impact Mathematical models Model accuracy Modelling Multi-branch robotic system Robotics Static friction model Stiffening
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