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Volume 5: 19th Biennial Conference on Mechanical Vibration and Noise, Parts A, B, and C
Multibody systems with rigid bodies and unilateral contacts are difficult to simulate due to discontinuities associated with gaining and losing contacts and stick-slip transitions. Methods for simulating such systems fall into two categories: penalty methods and complementarity methods. The former calculate penetration depths of virtual rigid bodies at every time step and compute restoring forces to repair penetrations, while the latter assume that the bodies are truly rigid and compute contactdoi:10.1115/detc2003/vib-48342 fatcat:mjtbdvqzbrhddep3gqbsxwcx2i