摘要：AbstractThis article demonstrates a method to model impulsive multi-body-systems in a compact way using Riemann-Stieltjes-Integrals. The theoretical background is presented introducing the necessary details on functions of bounded variation. An energetical consistent calculation for the impact dynamics with Coulomb friction using generalized coefficients of restitution is applied to complete the setup. The proposed discretization scheme is used to calculate the dynamics of multi-body-systems. The applicability of the demonstrated method is validated on meaningful examples.
