Abstract
This paper presents the modelling of a simultaneous multiple collision occurring between several bodies ofa kinematic chain. An algorithm is proposed that when used with an elastoplastic contact model, allows thephenomena that can occur during a multiple-body collision to be taken into account. These phenomena includethe transition of the collision state from the restitution phase directly to the compression phase or successivecollisions occurring along the same normal. The proposed algorithm can be used with any elastoplastic contactmodel. This paper presents its use with a selected model in a three-body system. Numerical calculations basedon the model have been verified using the Finite Element Method (FEM). The use of the proposed improvedapproach reduces the post-collision velocity prediction error by 2.34% compared to the baseline descriptionof collisions known from the literature.
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