Closed Form Constraint Equations Used to Express Frictionless Slip of Multibody Systems Attached to Finite Elements—Application to a Contact between a Double Pendulum and a Beam

This paper focuses on the numerical modeling of dynamics mechanical systems. Robots that can inspect high-voltage lines inspired this research. Their control systems must anticipate potential grab positions appropriately. We intend to formulate equations dedicated description robot/cable contact. The investigated problem is not straightforward, since parts modeled are numerically inhomogeneous. They consist multibody and finite element components. These components interact with each other only through frictionless point limit present investigation mathematical these connections. According model-adopted assumption, location contact invariant in structure, but it variable elements part. Unlike classically used models (i.e., spring/damper elastic contacts), we focus constraint equations. discuss their details paper. Following presence equations, associated Lagrange multipliers appear two sub-models. main feature/result presently proposed method closed form coordinate-portioning formulae, paper, employed eliminate dependent coordinates constraint-associated multipliers. To verify applicability elimination methodology, test its use a example. During test, connection between double pendulum beam. results confirm methodology allows us model shall underline vital property, universal, thus one easily extend/modify above operate multibody/finite contacts.