ABSTRACT Since the Hertzian contact stiffness coefficient is closely related to the power exponent, the modification of the Hertzian contact stiffness coefficient leads to some problems: (i) the power exponent must be changed with the improved contact stiffness coefficient, otherwise, the unit of the contact force is not newton; (ii) since the power exponent is one of the factors to determine the magnitude of the contact force, the inappropriate power exponent makes the multibody system hard to convergence or lose physical meaning. The main goal of this investigation is to reveal the shortcoming of the improved contact stiffness coefficient, and develop two different contact force models suited for the internal and external contact form associated with the hysteresis damping factor from Lankarani-Nikravesh contact force model (L-N model). The effectiveness of the external contact force model is validated by the bouncing example. The correctness of the internal contact force model used in the multibody system with a clearance revolute joint is validated by the experimental data.

中文翻译：

---

多体系统中基于赫兹定律扩展的改进粘弹性接触力模型的进一步研究

摘要 由于赫兹接触刚度系数与幂指数密切相关，赫兹接触刚度系数的修正会导致一些问题：(i) 幂指数必须随着接触刚度系数的改进而改变，否则，单位接触力不是牛顿；(ii) 由于幂指数是决定接触力大小的因素之一，不合适的幂指数会使多体系统难以收敛或失去物理意义。本研究的主要目的是揭示改进的接触刚度系数的缺点，并开发两种不同的接触力模型，适用于与来自 Lankarani-Nikravesh 接触力模型（LN 模型）的滞后阻尼系数相关的内部和外部接触形式. 弹跳示例验证了外部接触力模型的有效性。实验数据验证了带间隙旋转关节的多体系统内接触力模型的正确性。