Synchronous Contact/Impact Events Modelling With A Smooth-Based Approach

This work focuses its scope on the smooth contact approach and its management of multiple contact events, proposing several models developed under this methodology and discussing the main issues that have arisen when designing, modelling, and verifying them. The main purpose of this paper is to provide a reference to those researchers that work with smooth methods in the context of multibody dynamics of how to deal with them. Among the models presented, there are some engineering-focused ones, whereas the readers can also find some more practical, day-to-day examples.