Dynamics of multi-rigid-body systems under non-smooth constraints and linear complementary problems.

The objective is to combine the dynamical problem of multi-rigid-body systems under non-smooth constraints with linear complementary problem (LCP). For multibody systems under unilateral constraints, according to their unilateral property, the laws governing such situations can be formulated to a complementary problem. But for multibody systems under bilateral constraints with friction, it becomes more difficult to formulate the complementary conditions because normal contact force is no longer non-negative. The complementary conditions are derived by introducing new parameters according to the property of rigid bilateral constraints in a completely general way, so that the fundamental problem of multi-rigid-body systems with frictional bilateral constraints can be solved as a mixed problem of DAE and LCP. The example shows the realized process and possible singularity and validates the LCP formulations given in this paper indirectly. [ABSTRACT FROM AUTHOR]