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- W2287000669 abstract "The applications of the nonsmooth multibody systems field cover several fields including aeronautics, automotive, robotics, railway, virtual reality and watch industry to cite a few. These industrial applications have ever more stringent requirements on both accuracy and speed of the numerical methods used for the computation of the dynamics. As a consequence, the research in the nonsmooth mechanics domain is very active, to provide better integration methods for the resolution of the equations of motions and to develop better models for the contact problems with and without friction. Since the nonsmooth mechanics framework allows for jumps in the velocity and in the acceleration of the mechanical systems, the resulting algorithms have to handle such non-smoothness. In this PhD, several numerical schemes for the resolution of index-3, index-2 and index-1 DAEs are compared on industrial benchmarks with bilateral and unilateral constraints. The aim is to improve the efficiency of the Ansys Rigid Body solver which is based on an event-driven integration strategy. Points of comparison include the enforcement of the bilateral constraints, time efficiency and handling the stiff dynamics. This study also aimed at having a clear idea on the choice of the most suitable integration method for a given mechanical system knowing its characteristics (number of contacts, presence of bilateral constraints, stiff dynamics...). The second part discusses several issues that frequently occur in the simulation of multibody systems, namely, the problem of accumulation of impacts, the resolution of friction and handling the jumps resulting from the presence of some geometrical singularities. Dealing with such issues is very difficult, especially in the framework of event-driven schemes. In order to handle these problems, a mixed event-driven/time-stepping scheme is developed which takes advantage of both integration families (event-driven and time-stepping). Several examples are used to validate our methodology." @default.
- W2287000669 created "2016-06-24" @default.
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- W2287000669 date "2015-05-27" @default.
- W2287000669 modified "2023-09-26" @default.
- W2287000669 title "Algorithms of resolution of contact dynamics with impact and friction" @default.
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