Several effective numerical methods for solving the elasto-plastic contact problems with friction are pres-ented.First,a direct substitution method is employed to impose the contact constraint conditions on condensed finite ele-ment equations,thus resulting in a reduction by half in the dimension of final governing equations.Second,an algorithmcomposed of contact condition probes and elasto-plastic iterations is utilized to solve the governing equation,whichdistinguishes two kinds of nonlinearities,and makes the solution unique.In addition,Positive-Negative Sequence Modifica-tion Method is used to condense the finite element equations of each substructure and an analytical integration is intro-duced to determine the elasto-plastic status after each time step or each iteration,hence the computational efficiency is en-hanced to a great extent.Finally,several test and practical examples are pressented showing the validity and versatility ofthese methods and algorithms.
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