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Solid Mechanics and Its Applications
PauloFlores
HamidM.Lankarani
Contact Force
Models for
Multibody
Dynamics
Solid Mechanics and Its Applications
Volume 226
Series editors
J.R. Barber, Ann Arbor, USA
Anders Klarbring, Linköping, Sweden
Founding editor
G.M.L. Gladwell, Waterloo, ON, Canada
Aims and Scope of the Series
The fundamental questions arising in mechanics are: Why?, How?, and How much?
The aim of this series is to provide lucid accounts written by authoritative
researchers giving vision and insight in answ ering these questions on the subject of
mechanics as it relates to solids.
The scope of the series covers the entire spectrum of solid mechanics. Thus it
includes the foundat ion of mechanics; variational formulations; computational
mechanics; statics, kinematics and dynamics of rigid and elastic bodies: vibrations
of solids and structures; dynamical systems and chaos; the theories of elasticity,
plasticity and viscoelasticity; composite materials; rods, beams, shells and
membranes; structural control and stability; soils, rocks and geomechanics;
fracture; tribology; experimental mechanics; biomechanics and machine design.
The median level of presentation is to the first year graduate student. Some texts
are monographs defining the current state of the field; others are accessible to final
year undergraduates; but essentially the emphasis is on readability and clarity.
More information about this series at http://www.springer.com/series/6557
Paulo Flores
•
Hamid M. Lankarani
Contact Force Models
for Multibody Dynamic s
123
Paulo Flores
Department of Mechanical Engineering
University of Minho
Guimaraes
Portugal
Hamid M. Lankarani
Department of Mechanical Engineering
Wichita State University
Wichita, KS
USA
ISSN 0925-0042 ISSN 2214-7764 (electronic)
Solid Mechanics and Its Applications
ISBN 978-3-319-30896-8 ISBN 978-3-319-30897-5 (eBook)
DOI 10.1007/978-3-319-30897-5
Library of Congress Control Number: 2016934188
© Springer International Publishing Switzerland 2016
This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part
of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations,
recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission
or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar
methodology now known or hereafter developed.
The use of general descriptive names, registered names, trademarks, service marks, etc. in this
publication does not imply, even in the absence of a specific statement, that such names are exempt from
the relevant protective laws and regulations and therefore free for general use.
The publisher, the authors and the editors are safe to assume that the advice and information in this
book are believed to be true and accurate at the date of publication. Neither the publisher nor the
authors or the editors give a warranty, express or implied, with respect to the material contained herein or
for any errors or omissions that may have been made.
Printed on acid-free paper
This Springer imprint is published by Springer Nature
The registered company is Springer International Publishing AG Switzerland
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