Tarvirdizade - Graduate student University of Tehran
Yousefi-Koma - Assistant professor University of Tehran
Khanmirza - Graduate student University of Tehran

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.

Dynamic response, 3D impact, Flexibility, Friction, Differential equation