Abstract
In this paper, from a view point of multibody dynamics, the modeling and the formulation for rocking motion of a rigid body system considering contact geometry are proposed. The rigid body system is composed of three rigid bodies. The bottom rigid body has restriction of contact geometry between a support. The formulation for the rigid body that has the constraint is completed by augment method. The formulations for the other rigid bodies are completed by Lagrange equation. When the support is given oscillation disturbance in a horizontal direction, we note the vibration and the rocking motion of the rigid body system. In this case, we discuss an influence of the disturbance and the stiffness between rigid bodies.
