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A Friction Model for Non-Singular Complementarity Formulations for Multibody Systems With Contacts

[+] Author Affiliations
Albert Peiret, József Kövecses

McGill University, Montréal, QC, Canada

Josep M. Font-Llagunes

UPC, Barcelona, Spain

Paper No. DETC2017-67988, pp. V006T10A008; 7 pages
  • ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 13th International Conference on Multibody Systems, Nonlinear Dynamics, and Control
  • Cleveland, Ohio, USA, August 6–9, 2017
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5820-2
  • Copyright © 2017 by ASME


The dynamics of multibody systems with many contacts are frequently formulated as a Linear Complementarity Problem (LCP), for which several direct or iterative algorithms are available to solve it efficiently. These formulations rely on discretized friction models that approximate the friction cone of the Coulomb model to a pyramid. However, they produce rank-deficient LCPs even though the physical problem does not have constraint redundancy and has a unique solution. Here, a new discretized friction model is presented which results in an LCP formulation with a full-rank lead matrix. This model relies on an inertial term to couple the equations of the model, which behaves as close to the Coulomb model as the other discretized models. Moreover, it is shown through some simulations that some algorithms can be used with this formulation, which could not be used with the other rank-deficient LCP formulations.

Copyright © 2017 by ASME



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