Numerics of Unilateral Contacts and Friction

This book is especially suited for people both in research and industry who are interested in the numerical simulation of mechanical systems with unilateral contacts and friction. Such systems can be found in various fields of technical application; consider for example contacts between wheels and ground in vehicle dynamics, walking machines, limit stops and friction in arbitrary kind of mechanisms or contacts between thousands of grains in granular mechanics. The book focuses mainly on rigid multibody systems dynamics with unilateral contacts and friction, however, the proposed non-smooth modeling approach is much more general and also well suited for non-rigid applications.