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Variable impact dynamics of a finger mechanism
- Authors
- Choi, Jae yeon; Ryu, Hwan taek; Yi, Byung ju
- Issue Date
- Nov-2011
- Publisher
- IEEE
- Keywords
- Coefficient of restitution; Finger mechanism; Impact
- Citation
- URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, pp.263 - 266
- Indexed
- SCIE
SCOPUS
- Journal Title
- URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence
- Start Page
- 263
- End Page
- 266
- Abstract
- When a robot system collides with its environment, various impacts occur under the same robot and environmental condition. In order to apprehend this phenomenon, the analysis of impact dynamics is performed using a 3DOF finger mechanism. The external impulse exerted on a wall by a finger mechanism is a function of the robot's geometry and dynamic parameters. Here, coefficient of restitution (COR) is an important parameter to calculate the impulse. Generally, COR has been assumed a constant value. However, COR varies according to the colliding condition. In this paper, we derive an analytical model of COR for the 3DOF finger model colliding with a wall, and show that COR varies according to the colliding velocity and its contact area through experiment. © 2011 IEEE.
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Related Researcher
- Yi, Byung Ju
- ERICA 공학대학 (SCHOOL OF ELECTRICAL ENGINEERING)