로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제10권4호
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  • Pages.200-212
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  • 2015
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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반발계수의 모델링과 동적 시스템의 충돌 분석으로의 적용

Modelling of variable coefficient of restitution and its application to impact analysis of dynamic systems

  • Ryu, Hwan-Taek (Department of Intelligent Robot, Hanyang University) ;
  • Choi, Jae-Yeon (Korea Institute of Robot and Convergence, Gyeongbuk) ;
  • Kwon, Young-Hun (Department of Applied Physics, Hanyang University) ;
  • Yi, Byung-Ju (Department of Electronic System Engineering, Hanyang University)
  • 투고 : 2015.03.10
  • 심사 : 2015.08.19
  • 발행 : 2015.11.30
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초록

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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참고문헌

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