A linear complementarity model for multibody systems with frictional unilateral and bilateral constraints 被引量：1

A linear complementarity model for multibody systems with frictional unilateral and bilateral constraints

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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. 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.

作者 Hai-Ping Gao Qi Wang Shi-Min Wang Li Fu

机构地区 Department of dynamics and control

出处《Acta Mechanica Sinica》 SCIE EI CAS CSCD 2011年第4期587-592,共6页 力学学报（英文版）

基金 supported by the National Natural Science Foundation of China (10672007)

关键词 Coulomb friction Bilateral constraint Unilat-eral constraint - Horizontal linear complementarity problem（HLCP） Time-stepping impulse-velocity algorithm Coulomb friction Bilateral constraint Unilat-eral constraint - Horizontal linear complementarity problem（HLCP） Time-stepping impulse-velocity algorithm

分类号 O221 [理学—运筹学与控制论] TG335.11 [金属学及工艺—金属压力加工]

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