The aim of this work is the development of a robust and accurate time integrator for the simulation of the dynamics of multibody systems composed of rigid and/or flexible bodies subject to frictionless contacts and impacts. The integrator is built upon a previously developed nonsmooth generalized-\(\alpha \) scheme time integrator which was able to deal well with nonsmooth dynamical problems avoiding any constraint drift phenomena and capturing vibration effects without introducing too much numerical dissipation. However, when dealing with problems involving nonlinear bilateral constraints and/or flexible elements, it is necessary to adopt small time-step sizes to ensure the convergence of the numerical scheme. In order to tackle these problems more efficiently, a fully decoupled version of the nonsmooth generalized-\(\alpha \) method is proposed in this work, avoiding these inconveniences. Several examples are considered to assess its accuracy and robustness.

中文翻译：

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具有影响力的灵活系统的鲁棒非光滑广义α$ \α$方案

这项工作的目的是开发一种鲁棒且准确的时间积分器，以模拟由刚性和/或柔性物体组成的多体系统的动力学，该系统受到无摩擦接触和撞击。积分器是基于先前开发的非平滑广义- \（\ alpha \）方案时间积分器，能够很好地处理非光滑动力学问题，避免了任何约束漂移现象并捕获振动效应，而不会引入过多的数值耗散。但是，在处理涉及非线性双边约束和/或柔性元素的问题时，有必要采用较小的时间步长以确保数值方案的收敛性。为了更有效地解决这些问题，在这项工作中提出了一种完全解耦的非平滑广义\（\ alpha \）方法，从而避免了这些不便之处。考虑几个例子来评估其准确性和鲁棒性。