Nonsmooth Numerical Solution of Frictional Contact Problems in Multibody Systems

JAVIER GALVEZ; FEDERICO CAVALIERI; ALEJANDRO COSIMO; OLIVIER BRULS; ALBERTO CARDONA

Duisburg

Conferencia; ECCOMAS Thematic Conference Multibody Dynamics; 2019

University of Duisburg-Essen

This work presents a new formulation to deal with the frictional impact problem between a node and a planar rigid face in the field of non-smooth dynamics. The node and face can be attached, each one, to either flexible or rigid bodies. The regularization of the variational frictional contact problem is performed with a mixed approach based on an augmented Lagrangian technique and the Coulomb friction?s law. The method leads to an implicit formulation which can be solved at every time step using a Newton semi-smooth algorithm. The equations of motion are integrated with the non-smooth generalized−a time integration scheme [3], where the constraints are imposed both at position and velocity levels preventing any non-physical penetration. Additionally, the numerical results do not depend on the definition of any user-defined penalty parameter affecting the normal or tangentialcomponent of forces.