The library is described in:
Felix Oestersötebier, Peng Wang and Ansgar Trächtler: A Modelica Contact Library for Idealized Simulation of Independently Defined Contact Surfaces submitted to the 10th International Modelica Conference 2014 in Lund/Sweden.
It is furthermore based on the following theses:
And, it also refers to these publications:
[1] T. Juhász. Advanced Solutions in Object Oriented Mechatronic Simulation. Ph.D. Thesis, Dept. of Control Engineering and Information Technology, Budapest University of Technology and Economics, 2008
[2] M. Otter, H. Elmqvist, J. Díaz López. Collision Handling for the Modelica MultiBody Library. Proceedings of the 4th International Modelica Conference, Hamburg, March 7-8, 2005
[3] G. Hippmann. Modellierung von Kontakten komplex geformter Körper in der Mehrkörperdynamik. Ph.D. Thesis Vienna University of Technology, 2004
[4] F. Bauer, J. Gausemeier, D. Köchling, F. Oestersötebier: Approach for an Early Validation of Mechatronic Systems using Idealized Simulation Models within the Conceptual Design, Proceedings of the 5th CIRP Conference on Industrial Product-Service Systems, Bochum, March 14-15, 2013
[5] K. L. Johnson. Contact Mechanics. Cambridge University Press, Cambridge, 1985
[6] J. J. Kalker. Three-dimensional elastic bodies in rolling contact. Kluwer Academic Publishers, Norwell, 1990
[7] W. Sextro. Dynamical contact problems with friction, Springer-Verlag, Berlin, Heidelberg, 2007
[8] D. W. Marhefka, D. E. Orin. A Compliant Contact Model with Nonlinear Damping for Simulation of Robotic Systems. IEEE Transactions on Systems, Man, and Cybernetics, 29(6), 1999
[9] H. M. Lankarani, P. E. Nikravesh: Continuous Contact Force Models for Impact Analysis in Multibody Systems, Nonlinear Dynamics, 5, 1994
[10] K. H. Hunt, F. R. E. Crossley: Coefficient of restitution interpreted as damping in vibroimpact, ASME J. Appl. Mech, 1975
[11] C. Makkar, W. E. Dixon, W. G. Sawyer, G. Hu: A New Continuously Differentiable Friction Model for Control Systems Design, Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Monterey CA, July, 2005
[12] V.L. Popov. Kontaktmechanik und Reibung, Springer-Verlag, Berlin, Heidelberg, 2009
[13] B. Roh, H. Aum, D. Bae, H. Cho, H. Sung: A Relative Contact Formulation for Multibody System Dynamics, KSME International Journal, 14(12): 1328-1336, 2000