Multi-contact dynamics of a set of three-dimensional rigid bodies

This study is in keeping with the general pattern of dynamical simulations of a set of rigid three-dimensional bodies submitted to unilateral contact constraints with dry friction. An exact formulation (respecting the contact and friction laws) of the problem of predicting the system accelerations and the contact status, in further evolution is proposed. A numerical treatment of this kind of nonlinear problem is presented. This approach is applied to a simple multi-contact example, and yields results in agreement with those of analytical and numerical type, known for this example. (C) 2003 Academie des sciences/Editions scientifiques et medicales Elsevier SAS. All rights reserved.