The possible algebraic solutions for rough collision in three dimensional multibody systems

الملخص EN

The sliding direction of the collision point for single point rough collision in three dimensional multibody systems continuously swerves during collision period.

Numerical integrations for the bidimensional nonlinear differential equations of motion are usually required.

It is proved that if sliding starts along one of a finite number of directions, called invariant directions, algebraic solutions can be obtained.

The invariant directions are specified.

All the possible dynamic scenarios for the motion of the collision point that starts with sliding along an invariant direction are enumerated and algebraic solutions are obtained.

On the other hand, the conditions required to have the special case where the equations of motion have constant coefficients are defined and the algebraic solutions are determined.