The contact phenomenon in flexible multi-body system is common in engineering, which always make great effects to system design and analysis.

柔性多体系统的接触碰撞是工程中常见的现象，往往会对系统的设计与分析造成重大的影响。

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It is a compound contact problem of rolling bearings dynamic contact combined of multi-body contact, friction, sliding, material nonlinearity, geometric nonlinearity.

滚动轴承的动力学接触包含了多体接触、滑动、摩擦、几何非线性、材料非线性、边界非线性的复合接触问题。

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Then, the virtual prototype of crawler running device is established based on multi-body system dynamics theory. The most complex part is to exert contact force in the model building process.

接着，以多体系统动力学理论为基础，建立了连续采煤机履带行走装置的虚拟样机模型，在建立模型过程中，最为复杂的可谓施加接触力。

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