This paper presents a new solution method for the analysis of multibody systems with Coulomb friction. Complete equations of motion and reaction forces are derived by using Lagrangian formulation and the traditional friction circle concepts for the analysis of Coulomb friction. The numerical solutions by the new method, as well as the conventional method for comparision, are illustrated. The new method saves considerably the computer execution time to solve equations of motion and reaction forces compared with the conventional method for same accuracy. The higher the coefficient of friction is, the more the computation time of the conventional method is needed but the computation time of the new method is nearly independent on the coefficient of friction.
Key WordsCoulomb Friction Kinematic Constraint Multibody System Translational Joint Revolute Joint Constraint Force Radius of Friction Circle Lagrange Multiplier
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- Schiehlen, W. and Schramm, D., 1983, “Dynamics of Machines and Mechanisms with Coulomb’s Friction,” Proceedings of the 6th World Congress on Theory of Machines and Mechanisms-1983, pp. 424–428.Google Scholar