Résumé
This study is in keeping with the general pattern of dynamical simulation of a set of rigid three dimensional bodies submitted to unilateral contact constraints with dry friction. An event-driven algorithm, developed so as to be applied to the folding/unfolding of tensegrity systems, is presented in this paper. Computational results related to the folding process of a tensegrity structure are exposed and commented; these results point out the ability of the numerical model to handle dynamics of multi-contact systems.