Abstract
In this work we present a framework for the convergence analysis in a measure differential inclusion sense of a class of time-stepping schemes for multibody dynamics with contacts, joints, and friction. This class of methods solves one linear complementarity problem per step and contains the semi-implicit Euler method, as well as trapezoidal-like methods for which second-order convergence was recently proved under certain conditions. By using the concept of a reduced friction cone, the analysis includes, for the first time, a convergence result for the case that includes joints. An unexpected intermediary result is that we are able to define a discrete velocity function of bounded variation, although the natural discrete velocity function produced by our algorithm may have unbounded variation.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.