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In this work, the contact force model and experiment methods were used to study the dynamic response and impact wear behavior of TP316H steel. The Flore model and the classic Hertz model were selected for comparison with the experimental results, and the model was revised according to the section parameters of the TP316H tube. The results show that there is a large difference between the models without considering the effect of structural stiffness on the impact system and the test results, whereas the revised model has a good agreement. With the rise in impact mass, the coefficient of restitution increases from 0.65 to 0.78, whereas the energy dissipation and wear volume decrease. Spalling, delamination, plastic deformation, and oxidative wear are the main impact wear mechanism of TP316H steel.