|
|
numerical resolution methods for frictional collision problem of multi-rigid-body with redundant constraints |
GAO Hai-tao;ZHANG Zhi-sheng;CAO Jie;SHI Jin-fei |
(College of Mechanical Engineering, Southeast University, Nanjing 211189, China) |
|
|
Abstract Aiming at frictional collision problem of multi-rigid-body with redundant constraints, corresponding mixed complementary model with Newton restitution coefficient as termination conditions of collision is established based on linear programming theories and discretized dynamic equations. In order to solve model effectively, mixed complementary model is changed into a linear complementary model by least square methods and linearization methods and then a resolution algorithm of linear complementary model is applied. Subsequently, a direct projection algorithm is proposed for stabilizing resolution process of collision in advance, which effectively prevents magnification of constraint violation by collision. At last, the validity of the numerical resolution methods and constraint stabilization algorithm is verified through a numerical example.
|
Received: 13 April 2009
|
|
|
|
|
|
|