Elasto-plastic impact of a rotating link with a massive surface

This study presents the impact with friction of a rigid or a flexible body against a half-space, each with a small region of contact compliance where the compliance is obtained from the Jackson and Green theory. The model consists of a system of nonlinear differential equations which considers a nonlinear contact force as well as frictional effects at the contacting end, and allows one to predict the motion after the impact. The initial incidence angle, the initial impact velocity, and the contact radius of the link are found to influence the coefficient of restitution with friction. Analytical and experimental results were compared to establish the accuracy of the model.