A verification of the multi-body dynamics based on impulse-basemethod

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In this paper, an impulse-based method is applied instead of penalty method to deal with the collision between rigid bodies. In penalty method, the interpenetration of the two related rigid bodies is used to calculate the contact force and several parameters like the coefficient of restitution, Young’s module and Poission’s ratio are needed to adjust for different materials. In addition, for colliding contact problem, whose interval is very short, a tiny time increment is needed, or the simulation result will be very unstable. However, as penalty method is easy to implement and understand, it is widely adopted in the engineering simulations. On the contrary, using impulse-based method can also allow us to use a larger time increment to improve the efficiency of the simulation with only one parameter (coefficient of restitution) to adjust. By only considering the relative velocity at the contact point, the interpenetration between the related rigid bodies is not needed and the process of the entire collision is simulated in one time increment to prevent a deeper interpenetration, which also mitigates the error from the unrealistic interpenetration.

Original languageEnglish
Title of host publicationRock Dynamics Summit - Proceedings of the 2019 Rock Dynamics Summit, RDS 2019
EditorsOmer Aydan, Takashi Ito, Takafumi Seiki, Katsumi Kamemura, Naoki Iwata
PublisherCRC Press/Balkema
Number of pages6
ISBN (Print)9780367347833
Publication statusPublished - 2019
EventRock Dynamics Summit, RDS 2019 - Okinawa, Japan
Duration: May 7 2019May 11 2019

Publication series

NameRock Dynamics Summit - Proceedings of the 2019 Rock Dynamics Summit, RDS 2019


ConferenceRock Dynamics Summit, RDS 2019

All Science Journal Classification (ASJC) codes

  • Geology


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