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First this paper expresses kinematics relationships of Plane clearance revolute air and spatial clearance spherical hinge using absolute nodal coordinate method. This paper introduces a computation model of continuous normal collision force which can consider dissipation of collision energy. In the meantime, in order to avoid numerical value problems, this paper adopts an improved friction mode to calculate the friction force during collision. It further deducts the friction force moment computation formula basing on absolute nodal coordinate and establishes multibody dynamics model with clearance kinematic pair which considers friction effects.

Spacial Flexible cable Dynamics Modeling and Finite Element Analysis Based on Absolute Nodal Coordinate