Non-smooth numerical solution for Coulomb friction and sliding, rolling and spinning resistance applied to flexible multibody system dynamics

Abstract

This paper presents the general motion of a sphere in contact with a rigid planar rigid surface under rolling, sliding and spinning friction in the context of non-smooth contact dynamics. The equation of motion are solved by the non smooth generalized α implicit time integration scheme where the constrains at position and at velocity level are satisfied exactly without requiring to define any penalty parameter. The geometrical properties of the spheres are described by a rigid body formulation with translational and rotational degrees of freedom. The robustness and the performance of the proposed methodology is demonstrated by different examples including both flexible and/or rigid elements.