PROGRESS IN DYNAMICS OF IMPACT AND CONTACT OF MULTI-RIGID-BODY SYSTEMS

The impact and contact dynamics is a hottopic in the field of dynamics of multi-rigid-body systems in recent years.The related methods are reviewed. The energy inconsistency due to Coulomb-type friction, Painlev\'e'sparadox and the restitution coefficient of impact are discussed indetail, together with progress made in those problems. The future researchdirections in this field is pointed out.