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Nonsmooth Mechanics and Applications pp 1–82Cite as

Unilateral Contact and Dry Friction in Finite Freedom Dynamics

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Part of the book series: International Centre for Mechanical Sciences ((CISM,volume 302))

Abstract

An approach to the dynamics of mechanical systems with a finite number of degrees of freedom, involving unilateral constraints, is developed. In the n-dimensional linear spaces of forces and velocities, some classical concepts of Convex Analysis are used, but no convexity assumption is made concerning the constraint inequalities. The velocity is not supposed to be a differentiable function of time, but only to have locally bounded variation, so the role of the acceleration is held by a n-dimensional measure on the considered time interval. Dynamics is then governed by measure differential inclusions, which treat possible velocity jumps on the same footing as smooth motions. Possible collisions are described as soft, thus dissipative. Friction is taken into account under a recently proposed expression of Coulomb’s law. These formulations have the advantage of generating numerical algorithms of time-discretization, able to handle, in particular, the nonsmooth effects arising from unilaterality and from dry friction.

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Author information

Authors and Affiliations

  1. Université des Sciences et Techniques du Languedoc, Montpellier, France

    J. J. Moreau

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  1. J. J. Moreau
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Editors and Affiliations

  1. University of Montpellier, France

    J. J. Moreau

  2. Aristotle University, Greece

    P. D. Panagiotopoulos

  3. R.W.T.H., Germany

    P. D. Panagiotopoulos

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© 1988 Springer-Verlag Wien

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Moreau, J.J. (1988). Unilateral Contact and Dry Friction in Finite Freedom Dynamics. In: Moreau, J.J., Panagiotopoulos, P.D. (eds) Nonsmooth Mechanics and Applications. International Centre for Mechanical Sciences, vol 302. Springer, Vienna. https://doi.org/10.1007/978-3-7091-2624-0_1

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  • DOI: https://doi.org/10.1007/978-3-7091-2624-0_1

  • Publisher Name: Springer, Vienna

  • Print ISBN: 978-3-211-82066-7

  • Online ISBN: 978-3-7091-2624-0

  • eBook Packages: Springer Book Archive

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