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A linear complementarity model for multibody systems with frictional unilateral and bilateral constraints

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Abstract

The Lagrange-I equations and measure differential equations for multibody systems with unilateral and bilateral constraints are constructed. For bilateral constraints, frictional forces and their impulses contain the products of the filled-in relay function induced by Coulomb friction and the absolute values of normal constraint reactions. With the time-stepping impulse-velocity scheme, the measure differential equations are discretized. The equations of horizontal linear complementarity problems (HLCPs), which are used to compute the impulses, are constructed by decomposing the absolute function and the filled-in relay function. These HLCP equations degenerate into equations of LCPs for frictional unilateral constraints, or HLCPs for frictional bilateral constraints. Finally, a numerical simulation for multibody systems with both unilateral and bilateral constraints is presented.

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Authors and Affiliations

  1. Department of dynamics and control, Beihang University, 100191, Beijing, China

    Hai-Ping Gao, Qi Wang, Shi-Min Wang & Li Fu

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  1. Hai-Ping Gao
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  2. Qi Wang
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  3. Shi-Min Wang
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  4. Li Fu
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Correspondence to Hai-Ping Gao.

Additional information

The project was supported by the National Natural Science Foundation of China (10672007).

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Gao, HP., Wang, Q., Wang, SM. et al. A linear complementarity model for multibody systems with frictional unilateral and bilateral constraints. Acta Mech Sin 27, 587–592 (2011). https://doi.org/10.1007/s10409-011-0435-y

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  • DOI: https://doi.org/10.1007/s10409-011-0435-y

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