A Regularized Contact Model with Asymmetric Damping and Dwell-Time Dependent Friction

A general regularized contact model, including normal compliance, energydissipation, and tangential friction, is described in this paper. Thenormal damping coefficient is formulated as a function of the coefficientof restitution e and the impact velocity only; the results areenergy-consistent, with continuous force progression at the beginningand end of the impact, for both small and large values of e.The introduced seven parameter friction model based on an explicitformulation of the friction forces is suitable for real-timeapplications. The friction forces are split into its sliding andsticking contribution and a temporal lag effect, the dwell-time, isincluded using a novel dwell-time dependent stick state variable. Several examples are presented to demonstrate the features of thisgeneral contact model. The simulation results for a double pendulumhitting a plane are obtained, and a comparison with a benchmark problem shows the model behavior is in good agreement with published results.