One of the major challenges in dynamics of multibody systems is to handle redundant constraints appropriately. The box friction model is one of the existing approaches to formulate the contact and friction phenomenon as a mixed linear complementarity problem (MLCP). In this setting, the contact redundancy can be handled by relaxing the constraints, but such a technique might suffer from certain drawbacks, specially in the case of large number of redundant constraints. Most of the common pivoting algorithms used to solve the resulting mixed complementarity problem might not converge when the relaxation terms are chosen as small as they should be. To overcome the aforementioned shortcoming, we propose a novel approach which takes advantage of the sparse structure of the formulated MLCP. This novel approach reduces the sensitivity of the solution of the problem to the relaxation terms and decreases the number of required pivots to obtain the solution, leading to shorter computational times. Furthermore, as a result of the proposed approach, much smaller relaxation terms can be used while the solution algorithms converge.
A Fast Algorithm for Contact Dynamics of Multibody Systems Using the Box Friction Model
Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received March 17, 2016; final manuscript received July 25, 2016; published online September 16, 2016. Assoc. Editor: Dan Negrut.
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Gholami, F., Nasri, M., Kövecses, J., and Teichmann, M. (September 16, 2016). "A Fast Algorithm for Contact Dynamics of Multibody Systems Using the Box Friction Model." ASME. J. Comput. Nonlinear Dynam. January 2017; 12(1): 011016. https://doi.org/10.1115/1.4034396
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