Sliding contact between freeform surfaces
نویسندگان
چکیده
This paper deals with the sliding-contact constraint equations describing the relative motion of two freeform surfaces, assuming that the surfaces can have arbitrary curvature in 3D space. The sliding-contact equations are developed either for the non-penetration condition and for the surface-tangency condition. Both are differentiated twice in time in order to allow a straightforward application to dynamic and kinematic multibody simulation within the context of an augmented lagrangian approach . This formulation represents the contact constraint by means of a sliding tangent plane, hence exploiting the advantageous optimizations of the so called lock formulation.
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