| In this thesis, we discuss a novel approach to the dynamics modelling and analysis of impact in unilaterally constrained multibody systems. This approach is based on an analysis of energy absorption and restitution during impact, using a decomposition technique, which decouples the kinetic energy associated with the spaces of admissible and constrained motions of unilateral contacts. This is done based on the decomposition of the tangent space of the configuration manifold at the pre-impact instant. The decomposition of the kinetic energy can provide a picture of how the energy absorption and dissipation during impact is related to the variation of the generalized velocities and the configuration of multibody systems.;The use and applicability of the approach reported are further investigated by conducting an experimental study on a robotic testbed. The open architecture of the testbed allows us to perform various contact experiments, such as single- and multiple-point impact scenarios, with different pre-impact configurations and velocities. The kinematic and dynamic models of the system have been developed and implemented for real-time analysis. It is shown that impact between multibody systems is considerably affected by not only the local dynamics characteristics of the interacting bodies, but also the (global) configuration of the interacting multibody systems. The reported results suggest that the material presented herein offers a useful means to characterize impact in complex systems.;Further, based on the above analysis approach, we introduce a new interpretation of the energetic coefficient of restitution, specially applicable to contact involving multibody systems. This interpretation generalizes the concept of the energetic coefficient of restitution and allows for consideration of simultaneous multiple-point contact scenarios. Moreover, based on the concept of the generalized energetic coefficient of restitution, the contact modes and the post-impact state of planar single-point impact are determined. Further, the problem of simultaneous multiple-point impact is considered, where it is shown that our approach can also be advantageous to characterize the dynamics of interaction in such systems. |
