Posing Multibody Dynamics With Friction and Contact as a Differential Complementarity Problem | Zendy

Dan Negruţ | Zendy; Radu Serban | Zendy; Alessandro Tasora | Zendy

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Posing Multibody Dynamics With Friction and Contact as a Differential Complementarity Problem

Author(s) -

Dan Negruţ,

Radu Serban,

Alessandro Tasora

Publication year - 2017

Publication title -

journal of computational and nonlinear dynamics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.606

H-Index - 48

eISSN - 1555-1423

pISSN - 1555-1415

DOI - 10.1115/1.4037415

Subject(s) - complementarity theory , linear complementarity problem , discretization , mathematics , differential inclusion , multibody system , contact force , complementarity (molecular biology) , differential equation , contact dynamics , mathematical analysis , mathematical optimization , classical mechanics , physics , nonlinear system , quantum mechanics , biology , genetics

We use a complementarity approach to pose the Coulomb friction model, combine it with a non-penetration condition, and append to a differential algebraic problem to characterize the dynamics of multibody systems with friction and contact. The resulting problem is relaxed to a Cone Complementarity Problem, whose solution is shown to represent the first order optimality condition of a quadratic program with conic constraints.

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