Abstract Dynamic simulation of mechanical systems can be performed using a multibody system dynamics approach. The approach allows to account other physical nature, such as hydraulic actuators. In systems, the nonlinearity and numerical stiffness introduced by friction model cylinders an important aspect consider in modeling because it lead poor computational efficiency. This paper couples vari...

This paper presents preliminary results for the application of DMOC to multibody systems. DMOC is a technique that produces optimal control histories for boundary value problems directly from a discretized Lagrange-D'Alembert principle, and therefore does not require the equations of motion to be explicitly known. This work will be used to develop a methodology for rapidly predicting the perfor...

In this article, the existing nonsmooth generalized- ? method for simulation of mechanical systems with frictionless contacts, modeled as unilateral constraints, is extended to frictional contacts. On that account, we complement constraints set-valued Coulomb-type friction laws. Moreover, devise a set benchmark systems, which can be used validate numerical schemes Finally, benchmarks numericall...