Introduction

The Polygonal Contact Model (PCM) is a contact algorithm for multibody dynamics. It uses polygonal body surfaces and implements the elastic foundation model.

Animations

Bouncing Bubbles: PCM benchmark test, simulated with Dymola.

Torus Sphere: Simple scenarios with annular contact patch, simulated with Modia3D.

Pedestrian Crash: First complex PCM application, simulated with Simpack.

Debris Gripper: ESA ADRIOS model, simulated with Simscape.

Scout Rover: DLR Scout Rover model, simulated with Modia3D.

References

PCM is based on Gerhard Hippmann's Dissertation. In July 2003 a paper about PCM was presented at the ECCOMAS Multibody Dynamics conference; a journal version has been published in Multibody System Dynamics. In 2023 another article about PCM was published in Multibody System Dynamics.

Projects

• Antonio Carrarini implemented an interface to DCAP
• Saeed Ebrahimi extended PCM for flexible bodies
• Iulius Bidalach implemented an interface to SolidWorks/DAP3d
• Gianluigi Baldesi implemented another interface to DCAP
• Ben Arbia Ahmed implemented an interface to ADAMS
• Valentin Keppler implemented an extension for visualisation of contact pressures
• L.J. Shen used PCM for simulation of a constant velocity plunging joint
• Andreas Gibbesch and Rainer Krenn extended PCM for the wheel-ground contact of Mars rover simulations
• Michal Hajžman, Pavel Polach and Jiří Jankovec used PCM for simulation of a roller conveyor
• Ruiming Zou, Shihui Luo and Weihua Ma used PCM for simulation of a rail vehicle coupler
• Yonglong Zhang, Junfeng Li, Xiangyuan Zeng, Tongge Wen and Ziwen Li used PCM for landing simulation of small body landers
• Rainer Krenn used PCM for ESA ADRIOS debris gripper simulations in Simscape.
• PCM (with many extensions) is available as force element in Simpack.
• Gerhard Hippmann implemented PCM in Julia/Modia3D.

Source Code

PCM was implemented in C by Gerhard Hippmann with interfaces to Simpack, Modelica and rudimentary Simulink. It compiles on Linux and Windoze. Contact pcm@hippmann.org to get the PCM tar-ball including the PCM source code (C), interfaces and example models.

PCM is public domain software. It is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY, without even the implied warranty of merchantability or fitness for a particular purpose. Technical feedback is always welcome, but there is no claim for support.

Last Modification 2023-12-19
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