Sliding state stepping algorithm for solving impact problems of multi-rigid-body system with joint friction

摘要

Impact dynamics of multi-rigid-body systems with joint friction is considered. Based on the traditional approximate assumption dealing with impact problem,a general numerical method called the sliding state stepping algorithm is introduced.This method can avoid difficulties in solving differential equations with variable scale and its result can avoid energy inconsistency before and after impact from considering complexily of tangential sliding mode.An example is given to describe details using this algorithm.