Formulating Three-Dimensional Contact Dynamics Problems

ABSTRACT

Complementarity formulations are a promising approach for solving dynamic multi-rigid-body contact problems. Two aspects of simulating contact in a complementarity setting are addressed here. First, an explicit formulation of the differential equations governing contact points for bodies of general surface geometry is developed. These equations may be used to integrate the contact position and to set up the basic dynamics equations. Second, an efficient method for handling frictionless planar contacts of arbitrary boundary shape is presented. Throughout, the problem is set up as explicitly as possible, with special attention being given to the way that the contact geometry is related to the dynamics.