Multibody System Dynamics

, 23:99 | Cite as

An efficient and robust contact algorithm for a compliant contact force model between bodies of complex geometry

  • Juhwan Choi
  • Han Sik Ryu
  • Chang Wan Kim
  • Jin Hwan Choi


Dynamic analysis of many mechanical systems often involves contacts among rigid bodies. When calculating the contact force with a compliant contact force model, a penetration depth and a contact reference frame (a contact point and normal and tangent directions) should be determined from the geometrical information of the rigid body surfaces. In order to improve the speed and robustness of the contact analysis, this paper proposes a contact search algorithm for surfaces composed of triangles. This algorithm is divided into two parts, the pre-search and the detailed search. In the pre-search, a bounding box tree and an overlap test are used to find intersecting triangle pairs, and triangle connectivity information is used to identify and separate multiple contact regions. Then an efficient and robust detailed search algorithm is proposed, where the penetration depth and contact reference frame are determined from the results of the pre-search. Finally, the contact force for each contact region is calculated from a modified compliant contact force model. Numerical examples are also presented to illustrate the accuracy and performance.


Multibody dynamics Contact search algorithm Penetration depth Multiple contact region Compliant contact force model 


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Copyright information

© Springer Science+Business Media B.V. 2009

Authors and Affiliations

  • Juhwan Choi
    • 1
  • Han Sik Ryu
    • 2
  • Chang Wan Kim
    • 3
  • Jin Hwan Choi
    • 4
  1. 1.School of Mechanical and Aerospace EngineeringSeoul National UniversitySeoulRepublic of Korea
  2. 2.FunctionBay, Inc.GyeonggiRepublic of Korea
  3. 3.School of Mechanical EngineeringKonKuk UniversitySeoulRepublic of Korea
  4. 4.Department of Mechanical EngineeringKyungHee UniversityGyeonggiRepublic of Korea

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