Section: New Results

Multiple impacts modelling

Participant : Bernard Brogliato.

The work consists of studying two systems: the rocking block and tapered chains of balls, using the Darboux-Keller model of multiple impacts previously developed. The objectives are threefold: 1) show that the model predicts well the motion by careful comparisons with experimental data found in the literature, 2) study the system's dynamics and extract critical kinetic angles that allow the engineer to predict the system's gross motion, 3) develop numerical code inside the siconos platform that incorporates the model of multiple impact. The influence of the kinetic angles in the rocking block motion with friction is analysed as well, numerically. Extensive experimental works have been conducted by our colleague C. Liu at PKU on a disc-ball system. Results are in [32] [67] , and in the monograph [16] . Multiple impacts have also been tackled through generalized kinematic models using the kinetic metric [20] .