On the Coefficient of Restitution of Link Manipulators Using Wave Propagation Theory.

• KOYAMA Jun

• MATUNAGA Saburo

• OHKAMI Yoshiaki

Bibliographic Information

Other Title

• 波動伝播法を用いたマニピュレータの反発係数に関する考察
• ハドウ デンパホウ オ モチイタ マニピュレータ ノ ハンパツ ケイスウ ニ カンスル コウサツ

Abstract

The usual method to derive the intermittent motion of a system has some limitations, such as the need to specify the value of the coefficient of restitution. In deriving the value of the coefficient of restitution, Newton, Poisson or Stronge method is used. All of the methods have problems to cause energy contradiction and give the different value in non co-linear collision or collision with friction. This is due to the assumption of rigid body. For the analysis of the flexible body dynamics under impact, authors proposed wave propagation theory. Wave propagation theory is the method which is considered to be superior to the Newton method for its rigorous sense. By using wave propagation theory, we discuss the characteristics of the coefficient of restitution in detail and confirm that the values of the coefficient of restitution greatly depends on the conditions of impact.

Journal

• TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C

  TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 66 (643), 801-808, 2000

  The Japan Society of Mechanical Engineers

Keywords

• Impact
• Coefficient of Restitution
• Wave Propagation Theory
• Flexible Multibody
• Link Manipulators

Details

• CRID: 1390282681305504128
• NII Article ID: 110002382987
• NII Article ID: 130004084128
• NII Book ID: AN00187463
• DOI: 10.1299/kikaic.66.801
• ISSN: 18848354
• ISSN: 03875024
• NDL BIB ID: 5323051
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I5323051
• Web Site: http://www.jstage.jst.go.jp/article/kikaic1979/66/643/66_643_801/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed