ИСТИНА

Dynamics of a multibody system is simulated in a most universal way in case of contacts having a compliance property. This latter case is implemented usually by elasticity / viscosity along the direction normal to the rigid body outer / inner surface and by friction along its tangent direction. The Hertz model is one of the most popular elastic contact models for engineering applications. Object-oriented approach for building up the multibody dynamics model simulating compliant contacts is under development in this paper. A technology for constructing classes-templates is applied to build up contact objects in the dynamical model. The Hertz contact model is under consideration as a simplest example.