The Determination of the Velocities after Impact for the Constrained Bar Problem

The Determination of the Velocities after Impact for the Constrained Bar Problem

A simple mathematical model for a constrained robotic manipulator is investigated. Besides the fact that this model is relatively simple, all the features present in more complex problems are similar to the ones analyzed here. The fully plastic impact is considered in this paper. Expressions for the...

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Main Authors: André Fenili, Luiz Carlos Gadelha de Souza, Bernd Schäfer
Format: Article
Language:English
Published: Hindawi Limited 2009-01-01
Series:Mathematical Problems in Engineering
Online Access:http://dx.doi.org/10.1155/2009/384071
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spelling doaj-f704baf50451491c90300ddaf87502082020-11-24T21:22:08ZengHindawi LimitedMathematical Problems in Engineering1024-123X1563-51472009-01-01200910.1155/2009/384071384071The Determination of the Velocities after Impact for the Constrained Bar ProblemAndré Fenili0Luiz Carlos Gadelha de Souza1Bernd Schäfer2Center for Engineering, Modeling and Applied Social Sciences (CECS), Federal University of ABC (UFABC), Aerospace Engineering, Av. dos Estados, 5001. Bloco B/Sala 936, 09210-580 Santo André, SP, BrazilNational Institute for Space Research—INPE, Av. dos Astronautas, 1758, 12201-940 São José dos Campos, SP, BrazilGerman Aerospace Center—DLR, Institute of Robotics and Mechatronics, 82234 Wessling, GermanyA simple mathematical model for a constrained robotic manipulator is investigated. Besides the fact that this model is relatively simple, all the features present in more complex problems are similar to the ones analyzed here. The fully plastic impact is considered in this paper. Expressions for the velocities of the colliding bodies after impact are developed. These expressions are important in the numerical integration of the governing equations of motion when one must exchange the set of unconstrained equations for the set of constrained equation. The theory presented in this work can be applied to problems in which robots have to follow some prescribed patterns or trajectories when in contact with the environment. It can also de applied to problems in which robotic manipulators must handle payloads.http://dx.doi.org/10.1155/2009/384071
collection DOAJ
language English
format Article
sources DOAJ
author André Fenili
Luiz Carlos Gadelha de Souza
Bernd Schäfer
spellingShingle André Fenili
Luiz Carlos Gadelha de Souza
Bernd Schäfer
The Determination of the Velocities after Impact for the Constrained Bar Problem
Mathematical Problems in Engineering
author_facet André Fenili
Luiz Carlos Gadelha de Souza
Bernd Schäfer
author_sort André Fenili
title The Determination of the Velocities after Impact for the Constrained Bar Problem
title_short The Determination of the Velocities after Impact for the Constrained Bar Problem
title_full The Determination of the Velocities after Impact for the Constrained Bar Problem
title_fullStr The Determination of the Velocities after Impact for the Constrained Bar Problem
title_full_unstemmed The Determination of the Velocities after Impact for the Constrained Bar Problem
title_sort determination of the velocities after impact for the constrained bar problem
publisher Hindawi Limited
series Mathematical Problems in Engineering
issn 1024-123X
1563-5147
publishDate 2009-01-01
description A simple mathematical model for a constrained robotic manipulator is investigated. Besides the fact that this model is relatively simple, all the features present in more complex problems are similar to the ones analyzed here. The fully plastic impact is considered in this paper. Expressions for the velocities of the colliding bodies after impact are developed. These expressions are important in the numerical integration of the governing equations of motion when one must exchange the set of unconstrained equations for the set of constrained equation. The theory presented in this work can be applied to problems in which robots have to follow some prescribed patterns or trajectories when in contact with the environment. It can also de applied to problems in which robotic manipulators must handle payloads.
url http://dx.doi.org/10.1155/2009/384071
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AT luizcarlosgadelhadesouza determinationofthevelocitiesafterimpactfortheconstrainedbarproblem
AT berndschafer determinationofthevelocitiesafterimpactfortheconstrainedbarproblem
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