A nonsmooth frictional contact formulation for multibody system dynamics

COSIMO, ALEJANDRO; GALVEZ, JAVIER; BRÜLS, OLIVIER; GALVEZ, JAVIER; BRÜLS, OLIVIER; CAVALIERI, FEDERICO J.; CARDONA, ALBERTO; CAVALIERI, FEDERICO J.; CARDONA, ALBERTO; COSIMO, ALEJANDRO

INTERNATIONAL JOURNAL FOR NUMERICAL METHODS IN ENGINEERING

JOHN WILEY & SONS LTD

Año: 2020 vol. 121 p. 3584 - 3609

0029-5981

We present a new node-to-face frictional contact element for the simulation of the nonsmooth dynamics of systems composed of rigid and flexible bodies connected by kinematic joints. The equations of motion are integrated using a nonsmooth generalized-alpha time integrtion scheme and the frictional contact problem is formulated using a mixed approach, based on an augmented Lagrangian technique and a Coulomb friction law. The numerical results are independent of any user-defined penalty parameter for the normal or tangential component of the forces and, the bilateral and the unilateral constraints are exactly fulfilled both at position and velocity levels. Finally, the robustness and the performance of the proposed algorithm are demonstrated by solving several numerical examples of nonsmooth mechanical systems involving frictional contact.