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| Energy-consistent integration of multibody systems with friction Stefan Uhlar
The Journal of Mechanical Science and Technology, vol. 23, no. 4, pp.901-909, 2009
Abstract : The main goal of the present contribution is to establish an energy consistent time integration procedure for multibody
systems with friction. Based upon a rotationless formulation for multibody systems, we use the coordinate augmentation
technique in order to implement frictional phenomena such as joint friction. Within this contribution we use
the viscous friction assumption as a classical friction model incorporated in the joints. We start with a classical ad hoc
model for damping and extend the formulation to multibody systems, dealing finally with an underactuated control
problem of a three bar linkage with applied joint friction.
Keyword :
Differential algebraic equations; Dissipation; Friction; Multibody system
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