An elastic-plastic contact law is proposed for modeling impact of a single flexible link. This contact law allows continuous transition between contact and noncontact phases and is capable of predicting impact force histories. The impact model parameters can readily be obtained from the material and geometric properties. Excellent agreement with the experimental results has been obtained for both elastic and rigid body motion of the link. The impact force histories are also obtained and compared for perfectly elastic and elastic-plastic impact models. It is shown that a perfectly elastic impact assumption is not realistic for most impacts of flexible links.

Issue Section:
Technical Papers
Topics:
Impact modeling
1.
Chapnik
B. V.
,
Heppler
G. R.
, and
Aplevich
J. D.
,
1991
, “
Modeling Impact on a One-Link Flexible Robotic Arm
,”
IEEE Transactions on Robotics and Automation
, Vol.
7
, pp.
479
–
488
.
2.
Dubowsky
S.
, and
Freudenstein
F.
,
1971
, “
Dynamic Analysis of Mechanical Systems with Clearances, Part I: Formation of Dynamic Model
,”
ASME Journal of Engineering for Industry
, Vol.
93
, pp.
305
–
316
.
3.
Dubowsky
S.
, and
Gardner
T. N.
,
1975
, “
Dynamic Interactions of Link Elasticity and Clearance Connections in Planar Mechanical Systems
,”
ASME Journal of Engineering for Industry
, Vol.
97
, pp.
652
–
661
.
4.
Goldsmith, W., 1960, Impact, Edward Arnold Publishers Ltd.
5.
Hunt
K. H.
, and
Crossley
F. R. E.
,
1975
, “
Coefficient of Restitution Interpreted as Damping in Vibroimpact
,”
ASME Journal of Applied Mechanics
, Vol.
42
, pp.
440
–
445
.
6.
Johnson, K. L., 1985, Contact Mechanics, Cambridge University Press.
7.
Khulief
Y. A.
, and
Shabana
A. A.
,
1986
a, “
Dynamic Analysis of Constrained System of Rigid and Flexible Bodies with Intermittent Motion
,”
ASME Journal of Mechanisms, Transmissions, and Automation in Design
, Vol.
108
, pp.
38
–
45
.
8.
Khulief
Y. A.
, and
Shabana
A. A.
,
1986
b, “
Dynamics of Multibody Systems with Variable Kinematic Structure
,”
ASME Journal of Mechanisms, Transmissions, and Automation in Design
, Vol.
108
, pp.
167
–
175
.
9.
Khulief
Y. A.
, and
Shabana
A. A.
,
1987
, “
A Continuous Force Model for the Impact Analysis of Flexible Multibody Systems
,”
Mechanism and Machine Theory
, Vol.
22
, pp.
213
–
224
.
10.
Lee
E. H.
,
1940
, “
The Impact of a Mass Striking a Beam
,”
ASME Journal of Applied Mechanics
, Vol.
62
, pp.
A-129–A-138
A-129–A-138
.
11.
Lee
T. W.
, and
Wang
A. C.
,
1983
, “
On the Dynamics of Intermittent-Motion Mechanisms, Part: 1. Dynamic Model and Response
,”
ASME Journal of Mechanisms, Transmissions, and Automation in Design
, Vol.
105
, pp.
534
–
540
.
12.
Meirovitch, L., 1980, Computational Methods in Structural Dynamics, Sijthoff & Noordhoff, Netherlands.
13.
Mills
J. K.
, and
Nguyen
C. V.
,
1992
, “
Robotic Manipulator Collisions: Modeling and Simulation
,”
ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL
, Vol.
114
, pp.
650
–
659
.
14.
Palas
H.
,
Hsu
W. C.
, and
Shabana
A. A.
,
1992
, “
On the Use of Momentum Balance Method in Transverse Impact Problems
,”
ASME Journal of Vibration and Acoustics
, Vol.
114
, pp.
364
–
373
.
15.
Rismantab-Sany
J.
, and
Shabana
A.
,
1990
, “
On the Use of Momentum Balance in the Impact Analysis of Constrained Elastic Systems
,”
ASME Journal of Vibration and Acoustics
, Vol.
112
, pp.
119
–
126
.
16.
Parker
J. K.
, and
Paul
F. M.
,
1987
, “
Controlling Impact Forces in Pneumatic Robot Hand Designs
,”
ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL
, Vol.
109
, pp.
328
–
334
.
17.
Routh, E. J., 1960, Dynamics of a System of Rigid Bodies, Dover Publications, New York.
18.
Timoshenko, S. P., 1939, Vibration Problems in Engineering, 2nd Edition, D. Van Nostrand Company, New York.
19.
Wehage
R. A.
, and
Haug
E. J.
,
1982
, “
Dynamic Analysis of Mechanical Systems With Intermittent Motion
,”
ASME Journal of Mechanical Design
, Vol.
104
, pp.
778
–
785
.
20.
Yigit
A. S.
,
Ulsoy
A. G.
, and
Scott
R. A.
,
1990
a, “
Dynamics of a Radially Rotating Beam with Impact, Part 1: Theoretical and Computational Model; Part 2: Experimental and Simulation Results
,”
ASME Journal of Vibration and Acoustics
, Vol.
112
, pp.
65
–
77
.
21.
Yigit
A. S.
,
Ulsoy
A. G.
, and
Scott
R. A.
,
1990
b, “
Spring-Dashpot Models for the Dynamics of a Radially Rotating Beam with Impact
,”
Journal of Sound and Vibration
, Vol.
142
, pp.
515
–
525
.
22.
Zener
C.
, and
Feshbach
H.
,
1939
, “
A Method of Calculating Energy Losses During Impact
,”
ASME Journal of Applied Mechanics
, Vol.
61
, pp.
A-67–A-70
A-67–A-70
.
23.
Zheng
Y. F.
, and
Hemami
H.
,
1985
, “
Mathematical Modeling of a Robot Collision with its environment
,”
Journal of Robotic Systems
, Vol.
2
, pp.
289
–
307
.
This content is only available via PDF.
Copyright © 1995
 by The American Society of Mechanical Engineers
You do not currently have access to this content.