Concurrent multiple impacts modelling: case study of a 3-ball chain

The aim of this work is to exhibit a multiple impact law for rigid body dynamical systems which meets the properties of closing the non-smooth dynamical equations and of corroborating experiments. This law is based on the impulse correlation ratio which is computed from an equivalent regularized model with compliant contact. A case-study on a 3-ball chain and n-ball chain are delineated and results on finite dimensional system are stated.