Time-stepping for multibody dynamics with friction-affected bilateral constraints  

作　　者：Li Fu Qi Wang Shimin Wang 

机构地区：[1]Department of dynamics and control, Behang University, Beijing 100191, China [2]Science School, ttebei Polytechnic University, Tangshan 063000, China

出　　处：《Progress in Natural Science:Materials International》2009年第12期1799-1804,共6页自然科学进展·国际材料（英文版）

基　　金：supported by the National Natural Science Foundation of China(Grant No.10672007).

摘　　要：The dynamics of multibody systems with friction-affected bilateral constraints is essentially different from those of smooth multibody systems.In this paper,general modeling and numerical methods for this kind of friction-affected system are given.Each friction-affected bilateral constraint is modeled by splitting it into two unilateral constraints opposite to each other.The constraint equalities are replaced with complementarity inequalities to avoid the absolute value terms in the dynamic equations.A linear complementarity problem time-stepping scheme is presented for simulation that does not suffer from the difficulties of enumeration(known as Delassus' problem).The algorithm has the advantage that it needs no detection for stick-slip transition when neglecting the difference between the static and kinetic friction coefficients.Our method is carried out in an example to analyze the nonsmooth nonlinear behavior of a typical mechanism.The dynamics of multibody systems with friction-affected bilateral constraints is essentially different from those of smooth multibody systems. In this paper, general modeling and numerical methods for this kind of friction-affected system are given. Each friction-affected bilateral constraint is modeled by splitting it into two unilateral constraints opposite to each other. The constraint equalities are replaced with complementarity inequalities to avoid the absolute value terms in the dynamic equations. A linear complementarity problem time-stepping scheme is presented for simulation that does not suffer from the difficulties of enumeration （known as Delassus＇ problem）. The algorithm has the advantage that it needs no detection for stick-slip transition when neglecting the difference between the static and kinetic friction coefficients. Our method is carried out in an example to analyze the nonsmooth nonlinear behavior of a typical mechanism.

关 键 词：FRICTION Multibody dynamics Unilateral constraints Time-stepping scheme 

分 类 号：O412.1[理学—理论物理] TH117.1[理学—物理]