A Novel Formulation for Multibody Systems with Unilateral Interactions Using Equimomental Systems of Point Masses

EasyChair Preprint no. 13406

Abstract

A new formulation for rigid bodies with unilateral interactions is presented. A rigid body is represented with an alternative formulation: an equimomental system of four point masses rigidly connected through constant distance constraints. In this work, the forward dynamics problem is addressed, in which the motion of the rigid body is determined by solving the dynamics formulation under given loads. The simulation problem involves two main parts. First, the dynamics problem involving momentum/velocity updates is solved using the point mass model. Once the velocities of the point masses are determined, the kinematics problem is solved using the rigid body representation, ensuring that the rigid body condition is met. The validity of this new formulation is proved in this work for unilateral contact and friction problems.

Keyphrases: constraints, contact, first-order methods, multibody systems, Systems of point masses, Unilateral interactions

@Booklet{EasyChair:13406,
  author = {David Solanillas and Jozsef Kovecses},
  title = {A Novel Formulation for Multibody Systems with Unilateral Interactions Using Equimomental Systems of Point Masses},
  howpublished = {EasyChair Preprint no. 13406},

  year = {EasyChair, 2024}}