Generalized Impact Laws and Multiple Impacts
We speak of a multiple impact when several collisions occur at the same time in a multibody system. Multiple impacts are complex phenomena which possess particular features, not shared by single impacts. In the first part of this chapter, these specific properties are described. Then, two models of multiple impacts are presented: the first one extends kinematic laws (Newton’s and Moreau’s impact laws), while the second one extends Darboux-Keller’s impact dynamics and uses energetic coefficients of restitution at each contact/impact point. The extension of Poisson’s kinetic law is briefly introduced. Chains of balls and the rocking block systems serve as examples.