Multibody System Dynamics

, Volume 18, Issue 4, pp 511–530 | Cite as

The analysis and simulation for three-dimensional impact with friction



This paper presents a full discussion on how to formulate and evaluate the problem of spatial impact with friction in multibody systems. By considering that impact is experiencing a very short but finite time, we have established the differential equations of motion with normal impulse as a ‘time-like’ independent differential variable to describe the process of impact. A reliable numerical formulation, which can deal with the complex motions appearing in impact such as slip, stick and resumption of slip, has been developed by using difference schemes. The results indicate that the formulation and the numerical method presented in this paper can well solve the problems of 3D impact with friction by a comparison with the theoretical results existing in literature.


Numerical method 3D impact Friction Impulse Differential equation 


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© Springer Science+Business Media B.V. 2007

Authors and Affiliations

  1. 1.State Key Lab for Turbulence & Complex Systems and Department of Mechanics and Aerospace, College of EngineeringPeking UniversityBeijingChina
  2. 2.Beijing Institute of Graphic CommunicationBeijingChina

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