衝撃時における柔軟マニピュレータシステムの運動解析 : 第2報, 数値シミュレーション

概要

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The 1st report discuseed the formulation, using stress wave propagation theory, of dynamic analysis of flexible manipulator under impact. In this paper, using this theory we conduct numerical simulations for the impact of flexible manipulator systems. For the numerical simulation model, two dimensional 2 link manipulator system is chosen. From the result of numerical simulation, properties of wave propagation theory is investigated. The difference between stress wave propagation theory and Newton method which is a commonly used approach is also discussed. Then, we show that the coefficient of restitution is strongly depend on the dimension, but not so on configuration and etc. The reason why the coefficient of restitution is different by the material is depend on the damping coefficient is also discussed. For the characteristics of the wave propagation theory, we can obtain the impact stress history at the impacting point as well as the influence on the joint.
社団法人日本機械学会の論文
2000-02-25