MODELING AND EXPERIMENTAL VALIDATION OF THE ECCENTRIC COLLISION WITH FRICTION OF A PLANAR BAR ON A RIGID PLANE

The treatment of collisions in multibody systems is a topic of growing interest. Many technical processes involve multiple impacts with fric tion, whose exact modelling is of paramount importance for an accurate prediction of overall system motion. For the treatment of impacts, tw o main approaches exist: (a) classical rigid-body approaches, the impa ct process is approximated through small deformations. As shown in [3] , methods of type (a) and (b) may produce inconsistent results for gen eral eccentric impacts with friction. In this paper, we present experi mental results substantiating: the predicted responses of regularized models, as explained in more detail in [3].