In this paper the dynamics of rigid body systems with stick-slip transitions are examined. Thereby unilateral contacts and bilateral guiding devices are considered and the validity of the Coulomb friction law is assumed. The equations of motion together with the constraint equations and the contact laws are transformed into a linear complementary problem. For three dimensional problems this is done by using a linearized friction cone. All the described methods can be used for systems with dependent constraints. Finally, some practical examples are given in which the described methods are applied.

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