On the numerical simulation of friction constrained motions

摘要: In a previous article, the authors discussed time-discretization of those relations which model some elasto-dynamical systems with friction. The main goal this paper is to address similar problems using more sophisticated friction models and novel computational techniques. new give better description system behaviour when velocities are close zero. These investigations motivated by need for accurate in software simulating motion mechanical systems, such as remote manipulators Space Shuttle or International Station. content can be summarized follows: we first discuss several constrained under consideration, including rigorous formulation involving kind dynamical multiplier. Next, order treat friction, introduce an implicit–explicit numerical scheme unconditionally stable easy implement. Finally, above coupled, via operator-splitting, schemes classically used solve differential equations from frictionless elasto-dynamics. validated through series experiments.