IMPACTS WITH FRICTION AND NORMAL AND TANGENTIAL REVERSIBILITY IN MULTIBODY SYSTEMS

To enable an efficient numerical solution of the equations of motion o f a multibody system with impacts and friction it is important to use an impact model that bases on rigid bodies and calculates the state of the whole system after the impact depending from the state before. if one of the bodies that performes an impact is of a rubber-like materi al, not only friction but also storing and restoring energy in tangent ial direction has to be taken into account. There will be given the im pact equations for a multibody system, including tangential effects. T he impact classification known for single impacts will be generalized for multiple impacts. The problem of choosing coefficients of restitut ion for the tangential direction is shown and the solution for a simpl e example will be compared with experiments.