Abstract
The constraint method (analyzing the constraints between the contacts) has a better computational efficiency than the force method (analyzing the forces between the contacts) in contact dynamics. According to the constraint method, co-position and tangential conditions are proposed and applied to both rigid and flexible body contact problems. A pure rolling problem on the rigid elliptical disk is studied. And a typical slow-release mechanism, including winch, pulley and rope, is also analyzed by decomposing the contact-induced system into several continuous components. The boundary points among the parts can be quickly obtained by the constraint method, and the Kinematic continuity conditions on contact boundary point are deduced.
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