Modeling of Rolling and Sliding Friction of Spherical Rigid Bodies

Abstract

This work investigates the dynamic motion of spherical rigid bodies which are subject to the effects of rolling and sliding friction. In this work, a spherical body is modelled as a rigid body with translational and rotational degrees of freedom, which allows to properly describe any general motion. The associated frictional contact problem is solved with a mixed dual formulation based on an augmented Lagrangian technique, whereas the equations of motion are integrated using the nonsmooth generalized alpha scheme. In order to assess the numerical performance of the proposed methodology, the motion of two spheres over a plane is studied, where the impact between the two spheres is additionally considered.