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Formulating dynamic multi-rigid-body contact problems with friction as solvable linear complementarity problems. (English) Zbl 0899.70005
Summary: 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 for any 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 step size tends to zero for the Newton-Euler formulation in body coordinates.
MSC:
70E15Free motion of a rigid body
74A55Theories of friction (tribology)
74M15Contact (solid mechanics)
70-08Computational methods (mechanics of particles and systems)