Spatial Impact of a Flexible Link Using a Nonlinear Contact Force

An experimental analysis was conducted to study the rebound velocities of a freely dropped bar on a large external surface. The low velocity collision occured in the presence of a frictional impact. A 3D motion analysis system was used to capture the kinematic data. Tests were performed for central and oblique collisions. A spatial theoretical model is presented for the impact with friction of a flexible body. This model consists of a system of nonlinear differential equations which considers the multiple collisions as well as frictional effects at the contacting end, and allows one to predict the rigid and elastic body motion after the impact. The model uses a dry coefficient of friction, a nonlinear contact force, and the sound radiation from the impact. Analytical and experimental results were compared to establish the accuracy of the model.