A Penalty Function-based Modelica Library for Multi-body Contact Collision

Abstract

Contact collisions are prevalent in mechanical multi-body systems and have always been a significant limiting factor for engineering technology development. This paper examines the fundamental types of contact in multi-body dynamics systems and explores their inherent topological relationships. Based on the multi-body dynamics theory and penalty function contact algorithm, this paper constructed the multi-body dynamics contact model using Modelica, which is a multi-domain unified modeling language. To enhance the applicability of the contact model library in the modeling of multi-body system, the contact model provides a connection interface compatible with the multi-body library in the Modelica standard library.