Modeling and Dynamical analysis of a flexible arm and an object interaction in capture phase
Publish place: 16th Annual Conference on Mechanical Engineering
Publish Year: 1387
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:
ISME16_855
تاریخ نمایه سازی: 20 آبان 1386
Abstract:
In this paper, a dynamic system consisting of a flexible beam (as a simple model of a robot arm) and a target is analyzed. The target is considered in a general way as a dynamic subsystem (or an object) having finite mass and moments of inertia. The situation investigated is
when the robot establishes interaction with the target in such away that it intercepts and captures a reference element of the target. This paper presents a full discussion on how to formulate and evaluate the problem of spatial impact with friction in multibody systems, also. By considering that impact is experiencing a very short but finite time, we have established the differential equations of motion with normal impulse as a ‘time-like’ independent differential variable to describe the process of impact. At last, the dynamical behavior of a flexible beam and a target will be analyzed.
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Authors
Tarvirdizade
Graduate student University of Tehran
Yousefi-Koma
Assistant professor University of Tehran
Khanmirza
Graduate student University of Tehran
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