中文摘要：

含摩擦的多体系统可能存在Painlev6疑难奇异性——多体系统的后续运动可能存在无解（非协调状态）或者多解（不确定状态）．实际系统总要运动下去，而对应于非协调奇异性状态的多体系统将经历怎样的运动值得探讨．从计算、实验和理论证明3个角度研究Painlev6疑难问题，验证和证明了多体系统处于非协调状态时其后续运动的切向冲击特征，并揭示了切向冲击运动的共同规律．

英文摘要：

Painleve paradox may appear in multi-rigid-body systems subjected to Coulomb＇ friction. No solution or multiple solutions make the systems inconsistent or indeterminate. It is worth investigating how the subsequent motions of the systems in inconsistent states evolve since the actual systems will always move on. The theoretical analysis and the experimental verification are carded out to confirm the tangential impact in the inconsistent case of the systems. The characteristic of the stick motions are confirmed during tangential impact.