Explicit smooth/nonsmooth cosimulation using kinematic constraints

Abstract An explicit cosimulation scheme is developed to study the coupling of smooth and nonsmooth systems using kinematic constraints. Using force-displacement decomposition, constraints are formulated at velocity level, preserve consistency with impulse-momentum equations for frictional contacts in solver, which however potentially leads instability cosimulation. To improve stability without affecting format constraints, guidelines modification prescribed motion following spirit Baumgarte’s stabilization technique characteristics proposed integration scheme, prescribes a combination position, velocity, acceleration constrained bodies. modified inputs, tested rigidly connected two-mass oscillator model, shows clear improvement compared that unaltered inputs. The performances inputs further illustrated double-pendulum system complex flexible multibody coupled particle damper. It follows results well agree those obtained monolithic simulation or simplified models, verifying smooth/nonsmooth also show higher efficiency requires much less computational time obtain similar results, implicit