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On Dynamic Multi‐Rigid‐Body Contact Problems with Coulomb Friction
Author(s) -
Trinkle J. C.,
Pang J.S.,
Sudarsky S.,
Lo G.
Publication year - 1997
Publication title -
zamm ‐ journal of applied mathematics and mechanics / zeitschrift für angewandte mathematik und mechanik
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.449
H-Index - 51
eISSN - 1521-4001
pISSN - 0044-2267
DOI - 10.1002/zamm.19970770411
Subject(s) - coulomb friction , uniqueness , coulomb , coulomb's law , quadratic equation , contact force , convergence (economics) , collision response , linear complementarity problem , complementarity (molecular biology) , complementarity theory , mathematics , classical mechanics , mathematical optimization , computer science , mathematical analysis , physics , geometry , economics , quantum mechanics , nonlinear system , electron , computer security , collision , biology , collision detection , genetics , economic growth
Abstract This paper is a summary of a comprehensive study of the problem of predicting the accelerations of a set of rigid, three‐dimensional bodies in contact in the presence of Coulomb friction. We begin with a brief introduction of this problem and its governing equations. This is followed by the introduction of complementarity formulations for the contact problem under two friction laws: Coulomb's Law of quadratic friction and an approximated pyramid law. Existence and uniqueness results for the complementary problems are presented. Algorithms for solving these problems are proposed and their convergence properties are discussed. Computational results are presented and conclusions are drawn.