计算接触力学chapter12.pdfVIP

12 Beam Contact Many engineering problems involve contact of beams undergoing large dis- placement. These include robot parts, woven fabrics or racquet strings. In such cases the beams are either already in contact in the initial configuration, like woven fabrics, or they come into contact during the motion which can happen when parts of robots are moving. The contact formulations discussed in the previous chapters are usually developed for two- or three-dimensional solids. However, the contact between beams has some specialities which are related to the description of the beam as a one-dimensional curve in space. Thus, the formulation of the kinematical contact conditions is different, and hence will be derived in this chapter in detail. Since the underlying theories for beams in three-dimensional space are very complex we will not describe these here. The interested reader should consult Simo (1985), Simo and Vu-Quoc (1986), Crisfield (1990) or Gruttmann et al. (2000) for finite element formulations of beams undergoing large deflections and rotations. 12.1 Kinematics In this section we describe the kinematical relations which have to be used when contact between two beams occurs. The beams are mathematically described by curves in the three-dimensional space. Therefore, we have to consider basically the contact between two curves. This leads locally to one contact point as long as the beams are not parallel and have a smooth con- vex cross-section. We now derive the kinematical relations for the contact of two curves in space. Most of the formulation is based on Wriggers and Zavarise (1997), Zavarise and Wriggers (2000) and Litewka and Wriggers (2002a), which consider the contact of beams in three-dimensional space for the frictionless and frictional cases. 392 12 Beam Contact