Linear spring model
A linear impact of stiffness (kl) can be used to simulate impact. The impact force is provided by
Fc(t) = k1(t), (2.1)
where, (t) is the interpenetration depth of the colliding bodies. This model is shown in Figure 1(a)
which has been extensively used for impact simulation by Maison and Kasai (1990).
2.2 Kelvin-Voigt element model
The model shown in Figure 1(b) has been widely used by Anagnostopoulos (1988).
Fc(t) = kk(t) + ck ) t (
(2.2)