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A Pivoting Solver for Dynamic Planar Multi-Contact Friction Problems

Funk K., Pfeiffer F.

Machine Dynamics Problems

2000

Vol. 24, No. 1

87-99

An important application of complementarity theory is the determination of the contact forces in multi-body systems with rigid contacts. As long as the contacts are friction-free the formulation of the multi-contact problem results in a well posed linear complementarity problem (LPC). But once a friction force-depending on the normal contact force - is introduced the problem gets a lot more complicated, and the resulting LPC gets ill posed for many solving algorithms. The paper addresses a linear complementarity formulation in a generalised form, which is appropriate to handle planar friction problems. In addition, a direct solving method based on Lemke's method is presented, that can handle the generalised linear complementarity problem.