数値モデルによるマニピュレータ内の衝撃力予測(G01-1 計算シミュレーション,G01 計算力学部門)

概要

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Generally, force sensors do not have high reliability in their detected values, especially for dynamic forces. We discuss a new methodology to obtain the distribution of impact forces in manipulators, by considering the numerical model of the mechanism. In this research, a prediction system of impact force using the Finite Element Method is developed, based upon the incremental equation of motion considering the volume force generated by the motion. Expression of contact is discussed, in this paper, on two ways; (a) the impulse method and (b) the gap-element method. A sensor output in an experiment and the numerical result are compared. Although further investigation on the impulse time is required, the peak values of the impact force are practically in good agreement.
一般社団法人日本機械学会の論文
2004-09-04