Enumeration of all wedged equilibrium configurations in contact problem with Coulomb friction

For a linear structure subjected to the unilateral contact condition with a fixed obstacle, we refer to a nontrivial equilibrium state as a wedged configuration. Finding a wedged configuration is called a wedging problem. This paper discusses theoretical properties of solution set of the finite-dimensional wedging problem with the Coulomb friction, and presents numerical methods for computing all the wedged configurations. We propose algorithms for enumerating all the finitely many representative solutions, with which we can completely describe the solution set of the wedging problem. There exists a positive critical friction coefficient defined as the minimum value of friction coefficient with which at least one wedged configuration exists. We also propose an algorithm for computing the critical friction coefficient, which is based on the bisection method and the second-order cone program.