Dynamics of Multi-body Mechanical Systems with Unilateral Constraints and Impacts

The paper deals with mathematical description and computer simulation of multi-body dynamical systems with constraints imposed on displacements and velocities. Such mechanical systems contain a finite number of material points, whose motion is limited by unilateral constraints. The mathematical description of the problem, concerning the interaction between material points and unilateral constraints, is presented. The dynamic problem was defined in order to evaluate accelerations of elements and reactions of constraints. Moreover, the impact problem was formulated. The solution of the impact problem determines non-continuous change in velocities of elements and impulses of constraints’ reactions.