One of the most important and complex parts of the simulation of multibody systems with
contact-impact involves the detection of the precise instant of impact. In general, the periods …

The extension of collision models for single impacts between two bodies, to the case of
multiple impacts (which take place when several collisions occur at the same time in a …

This paper concerns the dynamics of planar rocking blocks, which are mechanical systems
subject to two unilateral constraints with friction. A recently introduced multiple impact law …

This paper discusses a parallel collision detection algorithm. Implemented using software
executed on ubiquitous Graphics Processing Unit (GPU) cards, the algorithm demonstrates …

The paper presents a full account of Poisson's impact law in inequality form. Based on an
entirely new setting for the decompression phase, impact laws for unilateral and bilateral …

Quasi-velocities computed with the kinetic metric of a Lagrangian system are introduced,
and the quasi-Lagrange equations are derived with and without friction. This is shown to be …

In this article, a recursive approach is used to dynamically model a tree-type robotic system
with floating base. Two solution procedures are developed to obtain the time responses of …

Contact impact has been widely found in the operation of various mechanical systems.
These mechanical systems include the type of mechanism typically characterised by circular …

In practice, the clearances of joints in a great number of mechanical systems are well under
control. In these cases, some of the existing methods become unpractical because of the …

This chapter is dedicated to comparisons of three well-known models that apply to multiple
(that is, simultaneous) collisions: Moreau's law, the binary collision law, and the LZB model …