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반발계수의 모델링과 동적 시스템의 충돌 분석으로의 적용Modelling of variable coefficient of restitution and its application to impact analysis of dynamic systems
- Other Titles
- Modelling of variable coefficient of restitution and its application to impact analysis of dynamic systems
- Issue Date
- Dec-2015
- Publisher
- 한국로봇학회
- Keywords
- Coefficient of restitution; external impulse; manipulator; contact material and area; collision velocity; impact dynamics
- Citation
- 로봇학회 논문지, v.10, no.4, pp 200 - 212
- Pages
- 13
- Indexed
- KCI
- Journal Title
- 로봇학회 논문지
- Volume
- 10
- Number
- 4
- Start Page
- 200
- End Page
- 212
- ISSN
- 1975-6291
2287-3961
- Abstract
- In classical dynamics, the coefficient of restitution is one of variables to estimate the amount of impulse. In general, we have considered the coefficient of restitution as a constant value. However, coefficient of restitution (COR) is the function of contact material and colliding velocity. Furthermore, COR is also a function of contact area. Thus, without considering the variable characteristic of COR, the actual motion of an object just after impact is not the same as we expect. A general COR model is proposed in this work and its effectiveness is verified through a cart impact experiment and its result is applied to simulation of a ball impact problem. A three-degree-of-freedom manipulator is employed as a test-bed.
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Related Researcher
- Yi, Byung Ju
- ERICA 공학대학 (SCHOOL OF ELECTRICAL ENGINEERING)