A yield-limited Lagrange multiplier formulation for frictional contact

An analogy with rigid plasticity is used to develop a constitutive framework for quasi-static frictional contact between nitely deforming solids. Within this setting, a Lagrange multiplier method is used to impose a sharp distinction between stick and slip. The scope of the multipliers is limited by a constitutively de ned `yieldʹ function and a nite element-based predictor{corrector scheme is employed to e ciently determine the regions of stick and slip and the associated tractions. Selected simulations of planar quasi-static problems are presented to validate the method and illustrate its capabilities