Half-explicit timestepping schemes on velocity level based on time-discontinuous Galerkin methods

The integration scheme on acceleration level was first introduced in Schindler et al. (2013) labeled “forecasting trapezoidal rule”. It was analyzed and applied to a decoupled bouncing ball example concerning principal suitability without taking friction into account. In this work, the approach is algorithmically specified, improved and applied to nonlinear multi-contact examples with friction. It is compared to other numerical schemes and it is shown that the newly proposed integration scheme yields a unified behavior for the description of contact mechanical problems.