A linear complementarity formulation for contact problems with regularized friction. (November 2016)

• Record Type: Journal Article
• Authors: Gholami, Farnood; Nasri, Mostafa; Kövecses, József; Teichmann, Marek
• Is Part Of: Mechanism and machine theory. Volume 105(2016:Nov.)
• Page Start: 568
• Page End: 582
• Publication Date: 2016-11
• Subjects: Multibody systems -- Contact dynamics -- Linear complementarity problems -- Regularized friction; Machine theory -- Periodicals; Machinery -- Periodicals; Machines -- Périodiques; Génie mécanique -- Périodiques; Machine theory; Machinery; Periodicals; 621.81
• DOI: 10.1016/j.mechmachtheory.2016.07.016
• Languages: English
• ISSNs: 0094-114X

Abstract

Abstract: A mathematical formulation in terms of a linear complementarity problem with regularized friction is introduced for multibody contact problems. In this approach, contacts are characterized based on kinematic constraints while the friction forces are simultaneously regularized and incorporated into the formulation. The variables of the resulting linear complementarity problem are only the normal forces. The main advantage of this formulation is that the dimension of the resulting linear complementarity problem is significantly less than its counterpart formulations in the literature, and hence, faster simulations can be achieved. The proposed formulation is examined for a set of benchmark examples yielding promising results. Highlights: A linear complementarity formulation for contact problems is introduced. Kinematic constraints are considered for contacts and friction forces are regularized. The dimension of the formulation is significantly less than its counterpart formulations in the literature. Faster simulations for problems with multiple contact points can be achieved.