摘要
分析了有摩擦与无摩擦的碰撞刚体的三种可能的切向运动（单向滑动、滑动反向、粘滞）及其产生条件，提出了确定这些运动的三个主要因素（初始切向动量，偏心碰撞下的法向冲量、摩擦冲量）。并建立了完整的求解有摩擦的则体碰撞动力学问题的一系列方程。同时指出，局部恢复系数不仅可以准确指出滑动反向（速度方向突变）发生的时刻，亦可用于区分和判别各个切向运动的类型。
The tangential motions of colliding rigid booties have been discussed in detail in this paper. There are three factors to determine these differential tangential motions of Colting nigid bodies. Meancubile further study shows that the local coefficient of restitution not only can indicate the time of slip reversal or slip stop, but also distinguish between uniderictional slip and slip reversal or slip stop, so a set of method for sloving rigid bodies collition with friction has been obtained.
关键词
刚体动力学
碰撞
摩擦
切向运动
rigid body kinetics
collisions(dynamics)
friction
local recovery coefficient
