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## Section: New Results

### Numerical analysis of multibody mechanical systems with constraints

This scientific theme concerns the numerical analysis of mechanical systems with bilateral and unilateral constraints, with or without friction [2]. They form a particular class of dynamical systems whose simulation requires the development of specific simulators.

#### Numerical time–integration methods for event-detecting schemes.

Participants : Vincent Acary, Bernard Brogliato.

#### Multibody systems with clearances (dynamic backlash)

Participants : Vincent Acary, Bernard Brogliato.

The PhD thesis of N. Akadkhar under contract with Schneider Electric has concerned the numerical simulation of mechanical systems with unilateral constraints and friction, where the presence of clearances in imperfect joints plays a crucial role. A first work deals with four-bar planar mechanisms with clearances at the joints, which induce unilateral constraints and impacts, rendering the dynamics nonsmooth. The objective is to determine sets of parameters (clearance value, restitution coefficients, friction coefficients) such that the system's trajectories stay in a neighborhood of the ideal mechanism (i.e. without clearance) trajectories. The analysis is based on numerical simulations obtained with the projected Moreau-Jean time-stepping scheme. Circuits breakers with 3D joint clearances have been studied in [20], [31] where it is demonstrated that the nonsmooth dynamics approach as coded in our software siconos , allows a very good prediction of the system's dynamics, with experimental validation. An overview of various approaches for the feedback control of multibody systems with joint clearances is proposed in [21].