Dynamic Multi-Rigid-Body Systems with Concurrent Distributed Contacts

. Consider a system of bodies with multiple concurrent contacts. The multi-rigid-body contact problem is to predict the accelerations of the bodies and the normal and friction loads acting at the contacts. This paper presents theoretical results for the multi-rigid-body contact problem under the assumptions that one or more contacts occur over locally planar, finite regions and friction forces are consistent with the maximum work inequality. We present an existence and uniqueness result for this problem under some mild assumptions on the system inputs. The application of our results to three examples is discussed. Key Words. Multi-rigid-body contact problem, friction limit surface, maximum work inequality, linear complementarity, quasi-variational inequality. Any findings, conclusions, or recommendations expressed herein are those of the authors and do not necessarily reflect the views of the funding agencies. y The research of this author was based on work supported by the Nationa..