On the friction modelling in joints of multibody systems

Abstract

The paper focuses on approaches to friction modelling and its integration into numerical simulations of multibody systems. The study considers rigid bodies connected by kinematic constraints. A summary of the various formulations of equations of motion, including kinematic constraints, is provided. Friction is incorporated into the equations of motion through forces and torques, with normal contact forces in joints used to evaluate friction forces. The paper addresses both static and dynamic friction models. The practical implementation of these models, based on Lagrange multipliers, is discussed, and an illustrative example of basic dynamic analyses is discussed.