Abstract: The complexity of tangential movements during impact is one of main characteristics for multi-rigid-body systems. A general numerical method for impulse problems of 2D rigid body systems is introduced. The method inherits the invariance of configuration of dynamic system during impact. It discretizes impact process into multi-steps. A little impuse increment is permitted in each step and the mode of sticking or sliding must be judged before every step increment. This method can solve the impact problems properly and efficiently due to collision or inconsistency for multi-rigid-body systems.

Key words: collision, friction, multi-rigid-body system, stepping-forward impulse method

摘要： 复杂的切向运动模式是多刚体碰撞和冲击问题的主要特征之一。介绍了一种处理多刚体系统冲击问题的数值计算方法，它保留了位形不变假定，把冲击过程离散成多步来计算，每一步允许法向冲量有一个微小的增量，每一步都要判断接触点处是滑动还是黏滞。此方法能够合理地给出多刚体系统碰撞的跳断规律。

关键词: 冲击, 碰撞, 摩擦, 多刚体系统, 步进冲量法