Comparisons and coupling of algorithms for collisions, contact and friction in rigid multibody simulations

Numerous works in computational mechanics are dedicated to multi-body systems [1], [2]. This leads to the use of various methods to simulate the static or dynamic evolution of complex systems. The case of dense multi-contact assemblies is one of the more complex one: the problem have often a large number of unknown and have a infinity of solution due to the definition of the matrix of the system. Moreover this problem become harder when friction or more complex laws are introduced in the system. Thus we need fast and robust solvers to perform mechanical studies. These performances can be increased when the special problem structure is considered (sparse matrices, block structured problem).

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