Three-Dimensional Rigid-Body Collisions With Multiple Contact Points

[+] Author and Article Information
D. B. Marghitu, Y. Hurmuzlu

Mechanical Engineering Department, Southern Methodist University, Dallas, TX 75275

J. Appl. Mech 62(3), 725-732 (Sep 01, 1995) (8 pages) doi:10.1115/1.2897006 History: Received October 04, 1993; Revised March 21, 1994; Online October 30, 2007


This article deals with three-dimensional collisions of rigid, kinematic chains with an external surface while in contact with other surfaces. We concentrate on a special class of kinematic chain problems where there are multiple contact points during the impact process. A differential formulation based algorithm is used to obtain solutions that utilize the kinematic, kinetic, and the energetic definitions of the coefficient of restitution. Planar and spatial collisions of a three-link chain with two contact points are numerically studied to compare the outcomes predicted by each approach. Particular emphasis is placed on the relation between the post and pre-impact energies, slippage and rebounds at the contact points, and differences among planar and nearly planar three-dimensional solutions.

Copyright © 1995 by The American Society of Mechanical Engineers
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