A Differential Algebraic Method to Approximate Nonsmooth Mechanical Systems by Ordinary Differential Equations

Figure 9

Simulation results of Example II by using (45) integrated by RK4 with timestep size 0.001 s. The gray regions indicate the time periods in which the objects 𝑀₁ and 𝑀₂ are in contact with each other. The parameters are chosen as 𝐾_𝑖=5×10⁵ N/m, 𝛽_𝑖=2×10⁻³s(∀𝑖∈{1,…,6}), and 𝛼_𝑖=1.6×10⁻³s(∀𝑖∈{1,2,3}).

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