On the use of an elastic-plastic contact law for the impact of a single flexible link

Author

Yigit, A.S.

Author_Institution

Dept. of Mech. & Ind. Eng., Kuwait Univ., Safat, Kuwait

Volume

2

fYear

1994

fDate

29 June-1 July 1994

Firstpage

1836

Abstract

An elastic-plastic contact law is proposed for modeling impact of a single flexible link. This contact law allows continuous transition between contact and non-contact phases and is capable of predicting impact force histories. The impact model parameters can readily be obtained from the material and geometric properties. Excellent agreement with the experimental results has been obtained for both elastic and rigid body motion of the link. The impact force histories are also obtained and compared for perfectly elastic and elastic-plastic impact models. It is shown that a perfectly elastic impact assumption is not realistic for most impacts of flexible links.

Keywords

elastoplasticity; flexible structures; force control; impact (mechanical); mechanical engineering; vibrations; elastic body motion; elastic-plastic contact law; impact force history prediction; impact modelling; rigid body motion; single flexible link; End effectors; Energy loss; History; Industrial engineering; Manipulator dynamics; Mechanical systems; Payloads; Robotics and automation; Robots; Solid modeling;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1994

Print_ISBN

0-7803-1783-1

Type

conf

DOI

10.1109/ACC.1994.752390

Filename

752390