Simulation of Hard Contacts with Friction: An Iterative Projection Method
DOI: 10.1007/978-3-0348-0451-6_19
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摘要: An algorithm for the simulation of mechanical systems with hard contacts and Coulomb friction is presented. The contact laws together switching rules between different states are formulated as normal cone inclusions then generalized to contact-impact laws. By using proximal point methods, combined rewritten nonlinear equations iteratively solved within an implicit time integration algorithm. As illustrative examples, a funnel-deflector arrangement 3,500 rigid balls bobsled simulator software briefly theoretical setting in accordance classical Lagrangian mechanics can be used model various set-valued interaction arbitrary finite-dimensional multibody systems.
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