Contact in kinematic motion simulations of flexible parts

Hello,

I have defined contact in kinematic motion simulations of flexible parts, but it does not detect contact in case of collision. I think a dynamic solution is required when contact is involved. But in the dynamic scenario, the flexible part cannot be defined.

Can you confirm this? If possible, can you also share the solution method?

Thank you 
Necmi 

flexible partsmechanical systemes experiencecontact