To strike or beat with or as if with something thick or heavy so as to cause a dull sound. (Merriam – Webster)
Pound, knock. (Merriam – Webster)
Whip, thrush. (Merriam – Webster)
To produce (music) mechanically or in a mechanical manner —usually used with out. (Merriam – Webster)
A blow with something thick and heavy, producing a dull sound. (Dictionary.com)
The sound made by or as if by such a blow. (Dictionary.com)
To hit something and cause a noise. (Cambridge Dictionary)
To hit someone with your fist. (Cambridge Dictionary)
Examples
How to Thump a Watermelon.

https://gardenandgun.com/articles/how-to-thump-a-watermelon/
Thump toy.

http://www.strong-boy.com/products/toys.html
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