Abstract
Contact processes may be represented by local discretization, by a rigid approach or by a mixed method using both ideas. For the dynamics of mechanical systems a rigid body approach is described achieving good results also for multiple contact problems. This paper considers mainly contacts in multibody systems where the corresponding contact constraints vary with time thus generating structure-variant systems. The equations of motion for dynamical systems with such an unilateral behavior are discussed, solution methods and applications are presented.Keywordsunilateral contactsmultibody dynamicscomplementarityfrictionimpacts
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