One of the major challenges in dynamics of multibody systems is to handle redundant constraints appropriately. The box friction model is one of the existing approaches to formulate the contact and friction phenomenon as a mixed linear complementarity problem (MLCP). In this setting, the contact redundancy can be handled by relaxing the constraints, but such a technique might suffer from certain drawbacks, specially in the case of large number of redundant constraints. Most of the common pivoting algorithms used to solve the resulting mixed complementarity problem might not converge when the relaxation terms are chosen as small as they should be. To overcome the aforementioned shortcoming, we propose a novel approach which takes advantage of the sparse structure of the formulated MLCP. This novel approach reduces the sensitivity of the solution of the problem to the relaxation terms and decreases the number of required pivots to obtain the solution, leading to shorter computational times. Furthermore, as a result of the proposed approach, much smaller relaxation terms can be used while the solution algorithms converge.
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January 2017
Research-Article
A Fast Algorithm for Contact Dynamics of Multibody Systems Using the Box Friction Model
Farnood Gholami,
Farnood Gholami
Department of Mechanical Engineering and
Centre for Intelligent Machines,
McGill University,
Montreal, QC H3A 2K6, Canada
e-mail: farnood.gholami@mail.mcgill.ca
Centre for Intelligent Machines,
McGill University,
Montreal, QC H3A 2K6, Canada
e-mail: farnood.gholami@mail.mcgill.ca
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Mostafa Nasri,
Mostafa Nasri
Department of Mechanical Engineering and
Centre for Intelligent Machines,
McGill University,
Montreal, QC H3A 2K6, Canada
e-mail: m.nasri@uwinnipeg.ca
Centre for Intelligent Machines,
McGill University,
Montreal, QC H3A 2K6, Canada
e-mail: m.nasri@uwinnipeg.ca
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József Kövecses,
József Kövecses
Department of Mechanical Engineering and
Centre for Intelligent Machines,
McGill University,
Montreal, QC H3A 2K6, Canada
e-mail: jozsef.kovecses@mcgill.ca
Centre for Intelligent Machines,
McGill University,
Montreal, QC H3A 2K6, Canada
e-mail: jozsef.kovecses@mcgill.ca
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Marek Teichmann
Marek Teichmann
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Farnood Gholami
Department of Mechanical Engineering and
Centre for Intelligent Machines,
McGill University,
Montreal, QC H3A 2K6, Canada
e-mail: farnood.gholami@mail.mcgill.ca
Centre for Intelligent Machines,
McGill University,
Montreal, QC H3A 2K6, Canada
e-mail: farnood.gholami@mail.mcgill.ca
Mostafa Nasri
Department of Mechanical Engineering and
Centre for Intelligent Machines,
McGill University,
Montreal, QC H3A 2K6, Canada
e-mail: m.nasri@uwinnipeg.ca
Centre for Intelligent Machines,
McGill University,
Montreal, QC H3A 2K6, Canada
e-mail: m.nasri@uwinnipeg.ca
József Kövecses
Department of Mechanical Engineering and
Centre for Intelligent Machines,
McGill University,
Montreal, QC H3A 2K6, Canada
e-mail: jozsef.kovecses@mcgill.ca
Centre for Intelligent Machines,
McGill University,
Montreal, QC H3A 2K6, Canada
e-mail: jozsef.kovecses@mcgill.ca
Marek Teichmann
1Present address: Department of Mathematics and Statistics, University of Winnipeg, 515 Portage Avenue, Winnipeg, MB R3B 2E9, Canada.
Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received March 17, 2016; final manuscript received July 25, 2016; published online September 16, 2016. Assoc. Editor: Dan Negrut.
J. Comput. Nonlinear Dynam. Jan 2017, 12(1): 011016 (11 pages)
Published Online: September 16, 2016
Article history
Received:
March 17, 2016
Revised:
July 25, 2016
Citation
Gholami, F., Nasri, M., Kövecses, J., and Teichmann, M. (September 16, 2016). "A Fast Algorithm for Contact Dynamics of Multibody Systems Using the Box Friction Model." ASME. J. Comput. Nonlinear Dynam. January 2017; 12(1): 011016. https://doi.org/10.1115/1.4034396
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