In semi-autogenous grinding (SAG) mills, the service life of lifters is essential for energy consumption and grinding efficiency because progressive wear increases metal-to-metal impacts and frequently results in unplanned shutdowns. This emphasizes the need for predictive tools that connect wear evolution to impact conditions for condition-based maintenance. To examine ball-lifter impact and wear mechanisms, this work suggests an integrated numerical approach with the use of finite element technique (FEM) to model high-velocity impacts, allowing for a thorough examination of transient contact phenomena, such as contact forces and frictional dissipation, under circumstances typical in industrial SAG mills. After that, parametric analyses are carried out to evaluate the impact angle and velocity's impact on mechanical response. To validate and calibrate the model, experimental drop-impact tests are carried out on an instrumented lifter fitted with a tri-axial accelerometer and a strain-gauge rosette. Signal processing of the acceleration and deformation measurements yields impact severity indicators like peak responses and energy-related metrics. A local and incremental application of Archard's law which is based on relative sliding and contact pressure, predicts wear evolution and enables the simulation of wear morphology and spatial distribution as a function of mechanically important parameters. The suggested methodology provides a thorough comprehension of impact-induced wear mechanisms and a solid foundation for the creation of predictive maintenance plans for SAG mill lifters.