Rigid Body Impact Modeling Using Integral Formulation

A three-dimensional single-point impact solution has been developed based on the original work of Keller. The formulation involves an integrated form of Keller’s equations and leads to a different numerical procedure to solve for the after-impact velocities. In this integral formulation, the kinetic and static friction coefficients are differentiated and any of the three hypotheses of the coefficient of restitution can be employed. Furthermore, a singularity problem that may occur in Keller’s solution is avoided with the integral formulation. Numerical examples are given to illustrate the features of the integral formulation and the differences between the two formulations.