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Shock and Vibration
Volume 2015, Article ID 129728, 10 pages
Research Article

Experimental and Simulation Analysis for the Impact of a Two-Link Chain with Granular Matter

Mechanical Engineering Department, Auburn University, Auburn, AL 36849, USA

Received 30 October 2014; Revised 22 May 2015; Accepted 2 June 2015

Academic Editor: Sundararajan Natarajan

Copyright © 2015 Eliza A. Banu and Dan B. Marghitu. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The resistance force of the granular matter is modeled as a linear superposition of a static (quadratic depth-dependent) resistance force and a dynamic (quadratic velocity-dependent) frictional force. The impact is defined from the moment the end point of the system comes in contact with the granular matter surface until the vertical linear velocity of the end point is zero. The variables of interest are the final depth at the end of the penetration phase and the stopping time. The results for a two-link kinematic chain with two points of contact were compared to the results obtained by applying the resistance force formulation developed to corresponding CAD simulation models. The results revealed that the final displacement increases with initial velocity, while the stopping time decreases. The sensitivity to the initial velocity was studied and an improvement to the resistance force formulated as a result. A series of expressions are proposed for the resistance force coefficients.