Modelling of variable coefficient of restitution and its application to impact analysis of dynamic systems Ryu, Hwan-Taek; Choi, Jae-Yeon; Kwon, Young-Hun; Yi, Byung-Ju;
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.
Coefficient of restitution;external impulse;manipulator;contact material and area;collision velocity;impact dynamics;
J. K. Mills and C.V. Nguyen, Robotic manipulator collisions: Modeling and simulation, ASME J. Dynamic Systems, Measurement, and Control, 1992, 114(4), pp. 650-659.
A.S. Yigit, The effect of flexibility on the impact response of a two-link rigid-flexible manipulator, J. Sound and Vibration, 1994, 177(3), pp. 349-361.
K. Youcef-Toumi and D.A. Gutz, Impact and force control, Proc. of the IEEE Conf. on Robot. Auto., 1989, pp. 410-416.
I.D. Walker, Impact Configurations and Measures for Kinematically Redundant and Multiple Armed Robot Systems, IEEE Trans. on Robotics and Automation, 1994, 12(5), pp. 670-683.
H.T. Liao and M.C. Leu, Analysis of impact in robotic peg-in-hole assembly, Robotica, 1998, 16(3), pp. 347-356.
J. Y. Choi and B.-J. Yi, "Dynamics and Impact Control of a Flying Soccer Ball," J. Korean Physical Society, vol. 54, 2009, pp. 75-84.
O.R. Walton and R.L. Braun, Viscosity, Granular-Temperature, and Stress Calculations for Shearing Assemblies of Inelastic, Frictional Disks, J. Rheology, 1986, pp. 949-980.
G. Kuwabara and K. Kono, Restitution Coefficient in a Collision between Two Spheres, Jpn. J. Applied Phys., 1987, 26, pp. 1230-1233.
American Society for Testing and Materials, Designation F1887-98, Standard Test Method for Measuring the Coefficient of Restitution (COR) of Baseballs and Softballs.
D. Kagan and D. Atkinson, The Coefficient of Restitution of Baseballs as a Function of Relative Humidity, The Physics Teacher, September 2004, 42, pp. 89-92.
A.D.Bernstein, Listening to the coefficient of restitution, Am. J. Physics, 1977, 45(1), pp. 41-44.
F. Gerl and A. Zippelius, Coefficient of restitution for elastic disks, Physical Review E, 1999, 59(2), pp. 2361-2372.
J.Y. Choi, H.T. Ryu, and B.-J. Yi, Variable Impact Dynamics of a Manipulator, The 8th Int. Conf. on Ubiquitous Robots and Ambient Intelligence, Incheon, Korea, 2011, pp. 263-266.
J. Wittenberg, Dynamics of Systems of Rigid Bodies, Band 33, Germany, B. G. Teubner, 1977. pp. 191-214.
W.J. Stronge, Chain Reaction From Impact on Aggregate of Elasto-Plastic Rigid Bodies, Int. J. Impact Engineering, 2003, 28(3), pp. 291-302.
J.H. Lee, B.-J. Yi, I.H. Suh, and S.-R. Oh, Performance Analysis of Sawing Task Based on Impulse Measure and Geometry: Dual Arm Approach, IEEE Trans. on Robotics, 2005, 21(6), pp. 1230-1240.
K. Ogata, System Dynamics 2nd Ed., 1992, pp. 134-138.