다물체 동역학 해석을 위한 마찰 접촉 모델링에 대한 연구

This paper presents the method to remove the slip problem of the friction contact modeling employed in most of multibody dynamic analysis programs. Even if contact occurs between two rigid bodies with no slip condition, most of contact algorithms developed so far provide the results of low speed slip motion. The friction coefficient is defined as a spline function of relative velocities in most commercial codes. Such a function resolved the problem of the discontinuity in friction force. However, when the relative velocity approaches zero, friction coefficient approaches zero too. So, slip occurs when small force is applied. This problem of low speed slip is resolved in this study with a new modeling method.