Numerical simulation of finite dimensional multibody nonsmooth mechanical systems

Bernard Brogliato (1) , Tony ten Dam (2) , Laetitia Paoli (3) , Frank Génot (4) , Michel Abadie (5)

1 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
2 NLR - National Aerospace Laboratory [Amsterdam]
3 EANLST - Equipe d'Analyse Numérique Lyon-Saint-Etienne
4 MACS - Modeling, analysis and control in computational structural dynamics
5 SE - Schneider Electric

This review article focuses on the problems related to numerical simulation of finite dimensional nonsmooth multibody mechanical systems. The rigid body dynamical case is examined here. This class of systems involves complementarity conditions and impact phenomena, which make its study and numerical analysis a difficult problem that cannot be solved by relying on known Ordinary Differential Equation (ODE) or Differential Algebraic Equation (DAE) integrators only. The main techniques, mathematical tools, and existing algorithms are reviewed.

Domaines: Sciences de l'ingénieur [physics]

Bernard Brogliato, Tony ten Dam, Laetitia Paoli, Frank Génot, Michel Abadie. Numerical simulation of finite dimensional multibody nonsmooth mechanical systems. Applied Mechanics Reviews, 2002, 55 (2), pp.107-150. ⟨10.1115/1.1454112⟩. ⟨hal-01349852⟩