A constraint-stabilized time-stepping approach for rigid multibody dynamics with joints, contact and friction

被引：80
|
作者：
Anitescu, M
Hart, GD
机构：
[1] Argonne Natl Lab, Div Math & Comp Sci, Argonne, IL 60439 USA
[2] Univ Pittsburgh, Dept Math, Pittsburgh, PA 15260 USA
来源：
INTERNATIONAL JOURNAL FOR NUMERICAL METHODS IN ENGINEERING | 2004年 / 60卷 / 14期
关键词：
constraint stabilization; multibody dynamics; contact; coulomb friction;
D O I：
10.1002/nme.1047
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
We present a method for achieving geometrical constraint stabilization for a linear-complementaritybased time-stepping scheme for rigid multibody dynamics with joints, contact, and friction. The method requires the solution of only one linear complementarity problem per step. We prove that the velocity stays bounded and that the constraint infeasibility is uniformly bounded in terms of the size of the time step and the current value of the velocity. Several examples, including one for joint-only systems, are used to demonstrate the constraint stabilization effect. Copyright (C) 2004 John Wiley Sons, Ltd.
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收藏
页码：2335 / 2371
页数：37
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