关键词: 摩擦碰撞, 多刚体系统, 能量恢复系数

Abstract: The frictional collision of multi-rigid-body systems is studied. General normal elastic-plastic force-displacement relationship is directly introduced in the calculation of multi-rigid-body systems, and slip-stick and slip?- at the contact point are considered. In existing literatures, the differential method is often used to solve this problem. But due to the much shorter collision time and the much larger force, the choice of calculating step becomes very difficult. Moreover, the non?smoothness of Amontons-Coulomb frictional law leads to the difficulties in finding non?smooth point between sticking and sliding states. Instead of returning to the calculation of differential equation, algebraic method to calculate the states after collision is applied. By the bridge of energetic coefficient of restitution and keeping the traditional approximate assumptions of impact, the dynamic state after the collision can be obtained according to initial conditions before the impact and geometry properties of the system, which energetic coefficient of restitution is calculated as a function of initial conditions based on general normal contact deformation law instead of a material property. The method avoids energy inconsistency and is much more simple.

Key words: frictional collision, multi-rigid-body systems, energetic coefficient of restitution