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There are mainly two kinds of methods to model the unilateral constraints. The first kind is based on smooth contact dynamics, including methods using Hertz's models, penalty methods, and some regularization force models, while the second kind is based on the non-smooth contact dynamics, which models the system with unilateral contacts as variational inequalities.
A starting point for solving contact problems is to understand the effect of a "point-load" applied to an isotropic, homogeneous, and linear elastic half-plane, shown in the figure to the right. The problem may be either plane stress or plane strain. This is a boundary value problem of linear elasticity subject to the traction boundary conditions:
In classical mechanics, the Udwadia–Kalaba formulation is a method for deriving the equations of motion of a constrained mechanical system. [1] [2] The method was first described by Anatolii Fedorovich Vereshchagin [3] [4] for the particular case of robotic arms, and later generalized to all mechanical systems by Firdaus E. Udwadia and Robert E. Kalaba in 1992. [5]
Three examples of nonholonomic constraints are: [12] when the constraint equations are non-integrable, when the constraints have inequalities, or when the constraints involve complicated non-conservative forces like friction. Nonholonomic constraints require special treatment, and one may have to revert to Newtonian mechanics or use other ...
Stiction (a portmanteau of the words static and friction) [1] is the force that needs to be overcome to enable relative motion of stationary objects in contact. [2] Any solid objects pressing against each other (but not sliding) will require some threshold of force parallel to the surface of contact in order to overcome static adhesion. [3]
A scalar is a quantity, whereas a vector is represented by quantity and direction. The results of these two different approaches are equivalent, but the analytical mechanics approach has many advantages for complex problems. Analytical mechanics takes advantage of a system's constraints to solve problems.
In classical mechanics, holonomic constraints are relations between the position variables (and possibly time) [1] that can be expressed in the following form:
In this system the box slides down a slope, the constraint is that the box must remain on the slope (it cannot go through it or start flying). In classical mechanics, a constraint on a system is a parameter that the system must obey. For example, a box sliding down a slope must remain on the slope.