Contact et frottement en dynamique des systèmes de corps rigides

ABSTRACT A formulation of the dynamics of rigid body collections, taking into account the unilateral character of non-interpenetrability constraints, dry friction at possible contact points and certain restitution laws in the event of collision is presented. It results in time-stepping algorithms of the implicit type for calculating evolution, presently enabling one to treat systems with several ten thousands of contacts on a micro-computer.

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