People Research Publications Activity Facility
 

Multi-Body Dynamics Simulation & Graphics

Multi-body contact systems are involved in many engineering applications, such as robotic manipulation, fixture loading, graphic simulation and haptic display. Solving the multi-body contact problem is essential for simulation, design, and planning in these applications.
In this project, we developed a contact propagation method for a general three-dimensional rigid-body system with multiple unilateral contacts without any bilateral constraints. We considered the general 3-dimensional case of smooth surfaces. We also used a differential model of the kinematics of surface contact for contact point tracking. We used the Gauss-Seidel iterative method for resolving the multiple simultaneous frictional contacts within the time-stepping framework.
 
 
A Sphere on Two Spherical Surfaces Contact force Iteration Number
A Ball on a Plane Position of the Ball Velocity of the Ball
An Ellipsoid on Sixteen Balls Distance of the Surfaces Velocity of the Ellipsoid
Supported by:

  • HKSAR Research Grants Council (RGC) Competitive Earmarked Research Grant (CERG), Interactive Haptic Simulation for Virtual Fixture Prototyping (CUHK4376/02E).

  • The Chinese University of Hong Kong Postdoctoral Fellowship Grant.

  • HKSAR Research Grants Council (RGC) Competitive Earmarked Research Grant (CERG), 3D Grasp Planning with Applications to Automated Fixture Layout Design (CUHK4217/01E).

  • The Chinese University of Hong Kong Direct Research Grant, High-Performance Workpiece Fixturing.

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