OPTIMIZATION-BASED SIMULATION OF NONSMOOTH RIGID MULTIBODY DYNAMICS

Mihai Anitescu (anitescumcs.anl.gov)

Abstract: We present a time-stepping method to simulate rigid multibody dynamics with inelastic collision, contact, and friction. The method progresses with fixed time step without backtracking for collision and solves at every step a strictly convex quadratic program. We prove that a solution sequence of the method converges to the solution of a measure differential inclusion. We present numerical results for a few examples, and we illustrate the difference between the results from our scheme and previous, linear-complementarity-based time-stepping schemes.

Keywords: Multibody Dynamics, Contact, Coulomb Friction, Convex Relaxation, Complementarity

Category 1: Applications -- Science and Engineering (Mechanical Engineering )

Category 2: Complementarity and Variational Inequalities

Citation: Preprint ANL/MCS-P1161-0504, Argonne National Laboratory, Argonne, Illinois, May 2004.

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Entry Submitted: 08/03/2004
Entry Accepted: 08/03/2004
Entry Last Modified: 08/03/2004

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