Analysis of frictional contact models for dynamic simulation

摘要: Simulation of dynamic systems possessing unilateral frictional contacts is important to many industrial applications. While rigid body models are often employed, it well established that friction can cause problems with the existence and uniqueness forward dynamics problem. In these situations, we argue compliant contact models, while increasing length state vector, successfully resolve ambiguities. The simplicity efficiency however, provide strong motivation for their use during those portions a simulation when model indicates unique stable solution. We singular perturbation theory in combination linear complementarity establish conditions validity rolling sliding planar systems. results illustrated simple example.