Numerical Methods for Frictional Contact of Multi-rigid-body with Redundant Constraints

To tackle the frictional contact problem of multi-rigid-body with redundant constraints, efficient numerical resolution methods and stabilization algorithm are proposed. Firstly, based on time-stepping method and linear programming theories, a mixed nonlinear complementary model describing frictional contact problem is built. In order to solve the model effectively, the least square method for solving redundant constraints and linearization method are used to change the mixed nonlinear complementary problem into a linear complementary problem that can be easily solved. And then, a direct stabilization algorithm is given to stabilize resolution process of contact forces in advance, which effectively eliminates the drift problem for both equality and inequality constraints. At last, the validity of the numerical resolution methods and stabilization algorithm are verified through a numerical example.