Inverse dynamic analysis of constrained multibody systems considering friction forces acting on kinematic joints

A method for the inverse dynamic analysis of constrained multibody systems considering friction forces acting on;kinematic joints is proposed in this paper. The stiction and the sliding which represent zero and non-zero relative motions are considered during the inverse dynamic analysis. Actuating forces to control the position or the orientation of constrained multibody systems are usually calculated in the inverse dynamic analysis. When the friction is considered, an iterative procedure need to be developed to calculate the actuating forces, which are uniquely determined during the sliding but not uniquely determined during the stiction. Numerical examples are solved to demonstrate the accuracy and the effectiveness of the proposed method.