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A constraint-stabilized time-stepping approach for rigid multibody dynamics with joints, contact and friction

✍ Scribed by Mihai Anitescu; Gary D. Hart

Publisher: John Wiley and Sons
Year: 2004
Tongue: English
Weight: 323 KB
Volume: 60
Category: Article
ISSN: 0029-5981
DOI: 10.1002/nme.1047

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We present a hard constraint, linear complementarity based, method for the simulation of stiff multibody dynamics with contact, joints and friction. The approach uses a linearization of the modified trapezoidal method, incorporates a Poisson restitution model at collision, and solves only one linear