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Title:	A friction model for non-singular complementarity formulations for multibody systems with contacts
Author:	Peiret Giménez, Albert; Kövecses, József; Font Llagunes, Josep Maria
Other authors:	Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica; Universitat Politècnica de Catalunya. BIOMEC - Biomechanical Engineering Lab
Abstract:	The dynamics of multibody systems with many contacts are frequently formulated as a Linear Complementarity Problem (LCP), for which several direct or iterative algorithms are available to solve it efficiently. These formulations rely on discretized friction models that approximate the friction cone of the Coulomb model to a pyramid. However, they produce rank-deficient LCPs even though the physical problem does not have constraint redundancy and has a unique solution. Here, a new discretized friction model is presented which results in an LCP formulation with a full-rank lead matrix. This model relies on an inertial term to couple the equations of the model, which behaves as close to the Coulomb model as the other discretized models. Moreover, it is shown through some simulations that some algorithms can be used with this formulation, which could not be used with the other rank-deficient LCP formulations.
Abstract:	Peer Reviewed
Subject(s):	-Àrees temàtiques de la UPC::Enginyeria biomèdica -Biomedical engineering -Friction -Multibody systems -Enginyeria biomèdica
Rights:	Attribution-NonCommercial-NoDerivs 3.0 Spain http://creativecommons.org/licenses/by-nc-nd/3.0/es/
Document type:	Article - Published version Conference Object
Published by:	American Society of Mechanical Engineers (ASME)
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