This paper discusses the problem of impact dynamics in a multi-rigidbody systems，and presents the mathematical model of this kind of impact problem．In this model the impact impulses at collision points are not coupled with the increments of the velocities，and they are also suitable for computer coding．%本文讨论了多刚体系统内部相互碰撞的动力学问题，给出了碰撞冲量和广义速度度增量已经解耦的，且适用于计算机求解的内碰撞动力学模型。
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