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Published in:
2009 | OriginalPaper | Chapter
Introduction
Author : Christian Studer
Published in: Numerics of Unilateral Contacts and Friction
Publisher: Springer Berlin Heidelberg
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Reality is neither smooth nor non-smooth. Models of reality are smooth or nonsmooth depending on the questions we ask. If a physical system has rapidly changing phases, then it can be advantageous to model the system in a non-smooth way. For mechanical systems the impact times are usually much smaller than the global motion which is of interest. This motivates the study of rigid multibody dynamics. The set-valued force laws which model the constitutive behaviour of unilateral contacts and of friction lead to non-smooth models. Usually, the positions are assumed to be absolutely continuous, while the velocities are allowed to undergo jumps and are taken to be of bounded variation. Jumps in the velocities can not be accomplished by finite but only by impulsive forces.