Linear complementarity model and numerical integration scheme of multibody system with unilateral and bilateral constraints

Considering the fact that the direction of normal force can be determined by the constraints, the methods of modeling and solving the constrained multibody systems with both unilateral and bilateral constraints were presented. Multibody systems were modeled by means of decomposing one bilateral constraint into two unilateral constraints. The active unilateral constraints were screened out by trial and error method, then an integration scheme in the form of the Euler scheme was presented, and the problem of calculating the unknown impulses was equivalently transformed into a linear complementarity problem. The method was validated through numerical example.