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A nonsmooth frictional contact formulation for multibody system dynamics
Author(s) -
Galvez Javier,
Cavalieri Federico J.,
Cosimo Alejandro,
Brüls Olivier,
Cardona Alberto
Publication year - 2020
Publication title -
international journal for numerical methods in engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.421
H-Index - 168
eISSN - 1097-0207
pISSN - 0029-5981
DOI - 10.1002/nme.6371
Subject(s) - robustness (evolution) , multibody system , kinematics , contact force , augmented lagrangian method , mechanical system , finite element method , mathematics , penalty method , equations of motion , control theory (sociology) , classical mechanics , computer science , engineering , mathematical optimization , physics , structural engineering , mechanical engineering , biochemistry , chemistry , control (management) , artificial intelligence , gene
Summary We present a new node‐to‐face frictional contact element for the simulation of the nonsmooth dynamics of systems composed of rigid and flexible bodies connected by kinematic joints. The equations of motion are integrated using a nonsmooth generalized‐ α time integration scheme and the frictional contact problem is formulated using a mixed approach, based on an augmented Lagrangian technique and a Coulomb friction law. The numerical results are independent of any user‐defined penalty parameter for the normal or tangential component of the forces and, the bilateral and the unilateral constraints are exactly fulfilled both at position and velocity levels. Finally, the robustness and the performance of the proposed algorithm are demonstrated by solving several numerical examples of nonsmooth mechanical systems involving frictional contact.