THE EFFECT OF FLEXIBILITY ON THE IMPACT RESPONSE OF A 2-LINK RIGID-FLEXIBLE MANIPULATOR

被引：22
|
作者：
YIGIT, AS
机构：
[1] Department of Mechanical Engineering, Kuwait University, Safat
来源：
JOURNAL OF SOUND AND VIBRATION | 1994年 / 177卷 / 03期
关键词：
D O I：
10.1006/jsvi.1994.1439
中图分类号：
O42 [声学];
学科分类号：
070206 ; 082403 ;
摘要：
The impact response of a two-link rigid-flexible manipulator is studied. A spring-dashpot model, which is based on the Hertzian contact law and non-linear damping, is used for impact modelling. Simulations have shown that the flexibility reduces the severity of the impact. The same impact conditions result in much less energy loss than that of a rigid manipulator. It is also found that as long as some elastic motion is excited due to impact, the response is significantly different from that of the rigid case, even for relatively stiff links.
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页码：349 / 361
页数：13
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