Contact between flexible bodies in nonlinear analysis, using Lagrange multipliers

This paper deals with contact in nonlinear analysis. Only implicit schemes are looked at. In order to solve the contact problem, an augmented lagrangien procedure is used. The resulting system of equations is solved simultaneously for the displacements and Lagrange multipliers. Contact between two flexible bodies and contact between a flexible body and a rigid surface are treated. A special care is taken when the flexible body is modelised by second order element in 3d analysis.