Formulating dynamic multi-rigid-body contact problems with friction as solvable linear complementarity problems

被引：340

作者：

Anitescu, M

Potra, FA

机构：

[1] UNIV IOWA,DEPT MATH,IOWA CITY,IA 52242

[2] UNIV IOWA,DEPT COMP SCI,IOWA CITY,IA 52242

来源：

NONLINEAR DYNAMICS | 1997年 / 14卷 / 03期

基金：

美国国家科学基金会;

关键词：

impacts with friction; multi-body dynamics; complementarity problems; contact constraints;

D O I：

10.1023/A:1008292328909

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

A linear complementarity formulation for dynamic multi-rigid-body contact problems with Coulomb friction is presented. The formulation, based on explicit Euler integration and polygonal approximation of the friction cone, is guaranteed to have a solution for any number of contacts and contact configuration. A model with the same property, based on the Poisson hypothesis, is formulated for impact problems with friction and nonzero restitution coefficients. An explicit Euler scheme based on these formulations is presented and is proved to have uniformly bounded velocities as the stepsize tends to zero for the Newton-Euler formulation in body co-ordinates.

引用

页码：231 / 247

页数：17