A time‐stepping method for stiff multibody dynamics with contact and friction
A time‐stepping method for stiff multibody dynamics with contact and friction
Abstract We define a time‐stepping procedure to integrate the equations of motion of stiff multibody dynamics with contact and friction. The friction and non‐interpenetration constraints are modelled by complementarity equations. Stiffness is accommodated by a technique motivated by a linearly implicit Euler method. We show that the main subproblem, a …