Analysis of Three-Dimensional Rigid-Body Impact with Friction

This paper is concerned with the modeling and simulation of two- and three-dimensional impact in the presence of friction. Single impacts are considered, and the impact equations are solved algebraically. Impact generates impulsive normal and frictional forces and the direction of sliding can change during impact. A procedure is developed to estimate the change in direction of sliding during three-dimensional impact. The modes of impact, such as sliding, sticking, or change in direction of sliding, are classified for both two- and three-dimensional impact. Simulations are conducted to analyze the energy lost, change in impact direction, and stick-slip conditions, where different models for restitution are compared. A closed-form solution is developed to analyze the modes of sliding for two-dimensional impact.