Multibody dynamics simulation of planar linkages with Dahl friction

It is well-known that classical Coulomb dry friction model does not portrays important physical phenomena occurring in the contact between mating surfaces. Moreover, the discontinuity of force at zero velocity has many drawbacks during numerical simulations. In the attempt of exploring alternatives to Coulomb friction model, this paper presents the application of the Dahl friction model in a multibody dynamics formulation. The analysis herein presented includes also the modeling of friction forces in lower pairs and some hints on the efficient computation of Lagrange parameters during the fixed-point iteration process. Two numerical examples are offered.