Formulation and preparation for numerical evaluation of linear complementarity systems in dynamics (Q2486667)

The authors present a theoretical framework for finite-dimensional dynamical systems with planar unilateral Coulomb-contact constraints. The contact kinematics is formulated in terms of gap functions and normal and tangential relative velocities. As a tool of research, the authors use the concept of linear complementarity to embed a subclass of non-smooth systems in mechanics. The example of woodpecker toy is given as a typical example of a low-dimensional dynamical system with frictional unilateral contacts. The authors examine the time evolution of angular displacements and velocities of the woodpecker's body and sleeve, and give the corresponding limit cicles on phase plane.