Dynamics of discrete system with friction and multiple-point impact

The purpose is to study the solution of impulsive dynamics of planar discrete system with friction and multiple-point impact. When impact applies on a discrete system in which one of constraints is a constant with coulomb friction, the phenomenon of slip-stick at the point can cause the change of friction and the integration for frictional force during infinitesimal impulsive interval becomes impossible according to traditional impulsive dynamics of discrete systems. By introducing a new dimensional time parameter, first-order momentum-impulse differential equations are obtained and the discussion over infinitesimal impulsive interval is transformed into a piece-wise study on the finite region of impulse. An algorithm for response of impact and an example are given.