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This work deals with the integration of nonsmooth flexible multibody systemswith impacts and dry friction. We develop a framework which improves anon-impulsive trajectory of state variables by impulsive correction after eachtime-step if necessary. This correction is automatic and is evaluated on thesame kinematic level as the piecewise non-impulsive trajectory. The resultingoverall mixed timestepping scheme is consistent with respect to impacts andfriction as well as benefits from advantages of the base integration schemesused to calculate the approximation inside the time-step. Therefore, we comparethe generalized-$\alpha$ method, the Bathe method and the ED-$\alpha$ method.

Mixed timestepping schemes for nonsmooth mechanics with high frequency damping