Constraint Stabilization for Time-Stepping Approaches for Rigid Multibody Dynamics with Joints, Contact, and Friction
|Title||Constraint Stabilization for Time-Stepping Approaches for Rigid Multibody Dynamics with Joints, Contact, and Friction|
|Year of Publication||2003|
|Authors||Anitescu, M, Miller, A, Hart, GD|
|Series Title||Proc. DETC'03|
We present a method for achieving geometrical constraint stabilization for a linear-complementarity-based time-stepping scheme for rigid multibody dynamics with joints, contact, and friction. The method requires the solution of only one linear complementarity problem per step. The method depends on an adjustable parameter \\gamma, but the constraint stabilization effect is shown to hold for any \\gamma in (0,1]. Several examples are used to demonstrate the constraint stabilization effect.