Modeling and simulation of point contact multibody system dynamics based on the 2D LuGre friction model

The main purpose of this paper is to present a modeling method and algorithm for point contact non-smooth multibody system based on the 2D LuGre friction model. Firstly, parameter identification of the LuGre friction model is discussed. The identification method for micro-damping coefficient is given by analyzing the influence of it on the stiffness of the dynamic equations and the oscillation of the solution. The bristles stiffness coefficient is determined by comparing with the simulation results of the Coulomb dry friction model. The effectivity of the parameter identification method is verified by a numerical simulating example. Secondly, the dynamic model and algorithm of point contact multibody system with the 2D LuGre friction model are derived by using Lagranges equation of the first kind and Baumgartes stabilization method. Compared with the Coulomb dry friction model, the modeling method presented in this study can also describe the stick-slip motion very well, and greatly simplifies the numerical algorithm. Finally, the modeling method and algorithm are applied to the wheel mechanisms with single-point contact and multi-point contact, and the stick-slip motions of the systems are analyzed.