Download or read book Modelling and Simulation of Multibody Systems with Unilateral Contact written by Albert Peiret Gimenez and published by . This book was released on 2019 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: "Models based on bodies that interact with each other are also known as multibody systems. Such models are proven to be very useful for representing the motion of many different kinds of systems, from industrial machinery to the human body. In many cases, rigid bodies can be employed if their deformation is negligible compared to their displacement, which significantly reduces the complexity of the model. Moreover, numerical simulations of multibody systems can be very efficient, and be used for real-time interactive applications in engineering and computer animation. The focus of this thesis is on the modelling and simulation of multibody systems, with especial emphasis to unilateral contact and friction between the bodies. The inherent non-smooth nature of contact is approached using the concept of unilateral constraints, which leads the system dynamics to formulate linear complementarity problems. However, these formulations can present inconsistencies when Coulomb friction is used to model contact, which can compromise the solvability of the dynamic equations and the numerical simulation as well. Here, the contact problem is analyzed using a novel representation of the generalized friction cone that is able to capture different phenomena, such as the Painlevé paradox. The framework of this work largely relies on formulations at the impulse-momentum level of multibody system dynamics. Implicit integration schemes make the numerical simulation of such systems stable, as well as robust. Additionally, constraint regularization also helps the model to cope with redundancy of the contact forces. A new regularized friction model based on the bristle approach is presented, which models the flexibility of the system at the contact interface, and is able to capture the static behavior of friction, or sticking. Moreover, other techniques that facilitate the simulation of large scale systems are also proposed herein. Substructuring of multibody systems groups the bodies into subsystems, which allows the system dynamics to be solved in different processing units (CPUs), and reduces the computational time by performing the operations in parallel. This is achieved by means of formulating the effective mass of the system at the coupling interfaces, which can also be used to couple the simulation to other systems of different nature and time-scale, such as hydraulic systems. Interestingly, co-simulation of such multi-physics systems is currently in the spotlight of many engineering applications ranging from virtual prototyping to simulation with hardware in the loop"--