机械手与粘弹性物体碰撞的模型

当机器人与它们工作环境中的物体接触时会出现不稳定性。本文提出了末端作用器与物体相碰时各种不同时态模型,同时研究了冲击力的影响。末端作用器与之接触的物体可以髟不同的粘弹性模型来表示。这里冲击力是用“修改赫兹型”和“修改指数函数型”碰撞模型来计算的。为了简化分析,分析中用的机械手是一个平面上由两个转动关了和硬连杆组成的。通过研究提供了碰撞和物体的粘弹性模型,模型主要依赖于接触的几何形状和互相接触物体的表面材料,模型提供了接触中力和运动的关系,这些关系可用于模拟和控制。

The Models of Manipulator Collision With Viscoelastic Objects

Robots may exhibit unstable behavior when they come into contact with objects in their work environment . In this paper various dynamic models of the end dffector/object collision are presented and the effects of the impact forces are studied. The work environment which the end effector comes into contact with is represented by various viscoelastic models where the impact force is calculated via the "modified Hertz type " and the "modified exponential function type " collision models . The manipulator considered for this analysis is a planar one with two revolute joints and rigid links which simplifies the analysis . Viscoelastic models of collision with objects have been presented and applied to the collision dynamics of the manipulators with their environments . The collision models provede force /motion relationships of the contacts which can be used for simulation or control purposes . The models depend strongly on the geometry of the contact and the surface materials of the objects coming into contact with each other