A linear complementarity model for multibody systems with frictional unilateral and bilateral constraints
A linear complementarity model for multibody systems with frictional unilateral and bilateral constraints作者机构：Department of dynamics and control Beihang University 100191 Beijing China
出 版 物：《Acta Mechanica Sinica》 (力学学报（英文版）)
年 卷 期：2011年第27卷第4期
页 面：587-592页
核心收录：
学科分类：12[管理学] 080503[工学-材料加工工程] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 07[理学] 08[工学] 070105[理学-运筹学与控制论] 0805[工学-材料科学与工程（可授工学、理学学位）] 0802[工学-机械工程] 0701[理学-数学] 080201[工学-机械制造及其自动化]
基 金：supported by the National Natural Science Foundation of China (10672007)
主 题：Coulomb friction Bilateral constraint Unilat eral constraint Horizontal linear complementarity problem(HLCP) Time stepping impulse velocity algorithm
摘 要：The Lagrange-I equations and measure differential equations for multibody systems with unilateral and bilateral constraints are constructed. For bilateral constraints, frictional forces and their impulses contain the products of the filled-in relay function induced by Coulomb friction and the absolute values of normal constraint reactions. With the time-stepping impulse-velocity scheme, the measure differential equations are discretized. The equations of horizontal linear complementarity problems （HLCPs）, which are used to compute the impulses, are constructed by decomposing the absolute function and the filled-in relay function. These HLCP equations degenerate into equations of LCPs for frictional unilateral constraints, or HLCPs for frictional bilateral constraints. Finally, a numerical simulation for multibody systems with both unilateral and bilateral constraints is presented.
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