Contact of Planar Flexible Multibody Systems Using a Linear Complementarity Formulation

Abstract

AbstractDescriptions leading to Linear Complementarity Problems (LCPs) are well established in the contact modeling of rigid multibody systems and have a very strong mathematical basis. These approaches yield exact solutions for contact problems consisting of contact (force/acceleration level) and impact (impulse/velocity level). By utilizing these methods, also frictional contact can be handled appropriately, see [1] and [2].In this paper a formulation for extending these methods for consideration of planar deformable bodies is given. In the case of deformable bodies, a finite wave propagation speed is inherent and, thus, impact computations on impulse/velocity level which lead to jumps in velocity are no longer required. In this paper only the case of continual contact is taken into account. For this purpose, the complementarity relations are reformulated in such a way that contact modeling of constrained and non‐constrained planar deformable bodies is possible, too. In this formulation, deformable bodies are modeled based on the moving frame of reference approach with modal coordinates which is frequently used for the simulation of deformable multibody systems [3]. (© 2005 WILEY‐VCH Verlag GmbH & Co. KGaA, Weinheim)