A linear complementarity formulation for contact problems with regularized friction.pdfVIP

Mechanism and Machine Theory 105 (2016) 568–582 Contents lists available at ScienceDirect Mechanism and Machine Theory journal homepage: /locate/mechmt A linear complementarity formulation for contact problems with regularized friction Farnood Gholamia,*, Mostafa Nasria,1, József K?vecsesa, Marek Teichmannb aDepartment of Mechanical Engineering and Centre for Intelligent Machines, McGill University, 817 Sherbrooke Street West, Montreal, Quebec H3A 2K6, Canada bCM Labs Simulations Inc., 645 Wellington Street, Montreal, Quebec H3C 1T2, Canada ARTICLE INFO Article history: Received 7 April 2016 Received in revised form 18 July 2016 Accepted 20 July 2016 Available online 20 August 2016 Keywords: Multibody systems Contact dynamics Linear complementarity problems Regularized friction ABSTRACT A mathematical formulation in terms of a linear complementarity problem with regularized friction is introduced for multibody contact problems. In this approach, contacts are characterized based on kinematic constraints while the friction forces are simultaneously regularized and incorporated into the formulation. The variables of the resulting linear complementarity problem are only the normal forces. The main advantage of this formulation is that the dimension of the resulting linear complementarity problem is signi?cantly less than its counterpart formulations in the literature, and hence, faster simulations can be achieved. The proposed formulation is examined for a set of benchmark examples yielding promising results. ? 2016 Elsevier Ltd. All rights reserved. 1. Introduction Contact modelling, simulation, and analysis of mechanical systems need proper treatments due to the non-smooth nature of the problem. Constraint and explicit force representation formulations are two main approaches to deal with the contact problems [11,16,17,28,36]. In constraint based approaches, the contact problem is formulated by imposing the kinematic unilateral constraints between bodies in contact. S