An augmented Lagrangian frictional contact formulation for nonsmooth multibody systems

JAVIER GALVEZ; ALBERTO CARDONA; FEDERICO CAVALIERI; OLIVIER BRULS

Budapest

Congreso; ENOC 2017; 2017

This work presents a frictional contact formulation for the transient simulation of non-smooth dynamic mechanical systemscomposed of rigid bodies, kinematic joints and contact conditions. More precisely, we extend the non-smooth generalized−α schemeto account for frictional contacts. The non-smooth generalized-alpha method imposes the constraints at position and velocity levels,preventing any non-physical penetration. The formulation and the numerical behaviour of the method for frictional contact problemsare studied. Finally, its performance is evaluated for several numerical examples.