DYNAMICS OF MULTIBODY SYSTEMS WITH UNILATERAL CONSTRAINTS

In several machines and mechanisms, we find couplings with dry frictio n. These mechanical systems are modelled as multibody systems with uni lateral constraints. The description of the system dynamics is structu re-varying. Making use of Lagrange multiplier methods the differential -algebraic equations of the system are transformed into a resolvable m athematical form by means of contact laws in equation form. In the fol lowing, we transform the contact laws in equations by the theorem of M angasarian and use the homotopy method for the solution of the three-d imensional contact problem.