Double pendulum contact problem

Jan Špička, Luděk Hynčík, Michal Hajžman


The work concerns contact problems focused on biomechanical systems modelled by a multibody approach. The example is modelling of impact between a body and an infrastructure. The paper firstly presents algorithm for minimum distance calculation. An analytical approach using a tangential plain perpendicular to an initial one is applied. Contact force generated during impact is compared by three different continuous force models, namely the Hertz’s model, the spring-dashpot model and the non-linear damping model. In order to identify contact parameters of these particular models, the method of numerical optimization is used. Purpose of this method is to find the most corresponding results of numerical simulation to the original experiment. Numerical optimization principle is put upon a bouncing ball example for the purpose of evaluation of desirable contact force parameters. The contact modelling is applied to a double pendulum problem. The equation of motion of the double pendulum system is derived using Lagrange equation of the second kind with multipliers, respecting the contact phenomena. Applications in biomechanical research are hinted at arm gravity motion and a double pendulum impact example.


contact; continuous contact model; minimum distance calculation; contact force parameters

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