Multibody dynamics with unilateral contacts

As mechanical systems become more complex so do the mathematical models and simulations used to describe the interactions of their parts. One area of multibody theory that has received a great deal of attention in recent years is the dynamics of multiple contact situations occurring in continuous joints and couplings. Despite the rapid gains in our understanding of what occurs when continuous joints and couplings interact, until now there were no books devoted exclusively to this intriguing phenomenon. Focusing on the concerns of practicing engineers, Multibody Dynamics with Unilateral Contact.

MULTIB ODY DYNAMICS WITH UNILATERAL CONTACTS; CONTENTS; PART 1: Theory; 1 Introduction; 1.1 Modeling Mechanical Systems; 1.2 Single-Contact Dynamics; 1.3 Multiple-Contact Dynamics; 2 Multibody Kinematics; 2.1 Geometry and Definitions; 2.2 Time Derivations; 2.3 Velocities and Accelerations; 2.4 Recursive Methods; 3 Dynamics of Rigid Body Systems; 3.1 Equations of Motion; 3.2 Nonlinear Applied Forces; 3.2.1 Some Remarks; 3.2.2 Couplings by Force Laws; 3.2.3 Some Examples; 4 Contact Kinematics; 4.1 Contour Geometry; 4.2 The Distance between Bodies

4.3 The Relative Velocities of the Contact Points4.4 Changes of the Relative Velocities; 4.5 Evaluation of the Contact Kinematics; 4.6 Example: Contact Problem of a Parabola and a Straight Line; 5 Multiple Contact Configurations; 5.1 Superimposed Constraints; 5.2 Minimal Coordinates and Friction; 5.3 Example: The Sliding Rod; 5.4 Example: A Pantograph Mechanism; 6 Detachment and Stick-Slip Transitions; 6.1 Contact Law for Normal Constraints; 6.2 Coulomb's Friction Law; 6.3 Decomposition of the Tangential Characteristic; 6.4 The Linear Complementarity Problem

6.5 Example: The Detachment Transition6.6 Example: The Stick-Slip Transition; 7 F…