Inverse dynamic analysis of constrained multibody systems considering friction forces acting on kinematic joints

A method for the inverse dynamic analysis of constrained multibody systems considering friction forces acting on;kinematic joints is proposed in this paper. The stiction and the sliding which represent zero and non-zero relat ive motions are considered during the inverse dynamic analysis. Actuating f orces to control the position or the orientation of constrained multibody s ystems are usually calculated in the inverse dynamic analysis. When the fri ction is considered, an iterative procedure need to be developed to calcula te the actuating forces, which are uniquely determined during the sliding b ut not uniquely determined during the stiction. Numerical examples are solv ed to demonstrate the accuracy and the effectiveness of the proposed method .