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Multi Rigid-Body Contact Dynamics With Regularized Friction

[+] Author Affiliations
Farnood Gholami, Mostafa Nasri, József Kövecses

McGill University, Montreal, QC, Canada

Paper No. DETC2015-47814, pp. V006T10A024; 7 pages
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 11th International Conference on Multibody Systems, Nonlinear Dynamics, and Control
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5716-8
  • Copyright © 2015 by ASME


A novel mathematical formulation in terms of a linear complementarity problem is introduced for multibody contact problems. In this approach, contacts are characterized based on kinematic constraints while the friction forces are simultaneously regularized and incorporated into the formulation. The variables of the resulting linear complementarity problem are only the normal forces. The main advantage of this formulation is a significant dimension reduction in the resulting linear complementarity problem in comparison with its counterpart formulations in the literature. Moreover, the dimension can be even further reduced by removing the velocity variables from the formulation. The proposed formulation is examined for benchmark examples yielding promising results.

Copyright © 2015 by ASME



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