1998 Fiscal Year Final Research Report Summary
Dynamics of Manipulator Collision with Its Work Environment and an Approach to Evaluation of Tip Collision of Manipulators in Assembly Operations
| Project/Area Number |
09650294
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Kagoshima University |
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Principal Investigator |
TSUJIO Showzow Kagoshima University, Faculty of Engineering, Professor, 工学部, 教授 (40081252)
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| Co-Investigator(Kenkyū-buntansha) |
YU Yong Kagoshima University, Faculty of Engineering, Assistant Professor, 工学部, 講師 (20284903)
HASHIMOTO Minoru Kagoshima University, Faculty of Engineering, Associate Professor, 工学部, 助教授 (60156297)
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| Project Period (FY) |
1997 – 1998
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| Keywords | Manipulator / Collision / Impact Force / Inverse Inertia Matrix / Equivalent Mass / Coefficient of Restitution / Assembly Operation / Impact Reduction |
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| Research Abstract |
As a manipulator consists of serial-linked rigid multibodies, the manipulator collision with its work environment is a highly complex and nonlinear phenomenon, which makes controlling of a manipulator very difficult. The study deals with the manipulator collision as a collision between an equivalent massive particle of a serial-linked multibody manipulator and its work environment. The equivalent mass of the manipulator viewed from a point of collision is theoretically introduced by using an inverse inertial matrix of a manipulator dynamic equation. Experiments of collision by the use of planar manipulators with a work environment are conducted to reveal the equivalent mass and the coefficient of restitution. From the experiments of manipulator collision, the following results are obtained :
1. The theoretical equivalent mass coincides with the experimental equivalent mass accurately.
2. The coefficient of restitution of the final link of manipulator changes with respect to the distance between the point of collision and the percussion point to induce the center of percussion on the joint.
3. The coefficient of restitution of the manipulator tip with its work environment takes a value from 0.5 to 0.65.
As the consequence it is revealed that the model of a manipulator collision with its work environment can easily predict and evaluate the collision impact effects such as the impulsive forces acting on the environment and the impulsive torques exerted on the each joint.
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