Constraint Stabilization for Time-Stepping Approaches for Rigid Multibody Dynamics With Joints, Contact, and Friction

Abstract

We present a method for achieving geometrical constraint stabilization for a linear-complementarity-based time-stepping scheme for rigid multibody dynamics with joints, contact, and friction. The method requires the solution of only one linear complementarity problem per step. The method depends on an adjustable parameter γ, but the constraint stabilization effect is shown to hold for any γ ∈ (0,1]. Several examples are used to demonstrate the constraint stabilization effect.