Impact of a Planar Kinematic Chain with Granular Matter

The theoretical model of a kinematic chain impacting granular matter is studied. The force of the granular medium acting on the chain is a linear superposition of a static (depth-dependent) resistance force and a dynamic (velocity-dependent) frictional force. This resistance force is opposed to the direction of the velocity of the immersed chain. We present two methods (one using EventLocator and the other using FixedStep) for the problem. As examples, a single and a double pendulum are simulated using different initial impact velocity conditions. We analyze how rapidly the kinematic chain impacting the granular medium slows upon collision. For the analyzed cases the kinematic chain under high impact force (higher initial velocity) comes to rest faster in the granular matter than the same body under low impact force (lower initial velocity).