On the derivation of energy consistent time stepping schemes for friction afflicted multibody systems

The work outlines the modeling of dissipative effects in multibody systems while designing an energy consistent time integration scheme. Standard integrators typically lead to numerical growth or decay of energy while solving the equations of motion. Consequently it is almost impossible to distinguish between physically based dissipation and numerical dissipation. The present contribution relies on a thermodynamically consistent modeling of dissipation. This formulation facilitates the design of time integration schemes which preserve mechanical quantities like linear and angular momentum and total energy balance. Examples deal with standard mass point systems as well as applications to complex closed loop multibody systems.