Abstract
The impact between a rotating link and a solid flat surface is considered. For the impact, we consider three distinct periods: elastic period, elastoplastic period, and restitution period. A Hertzian contact force is considered for the elastic period. Nonlinear contact forces developed from finite element analysis are used for the remaining two phases. The tangential effect is taken into account considering a friction force that combines the Coulomb dry friction model and a viscous friction function of velocity. Simulations results are obtained for different friction parameters. An experimental setup was designed to measure the contact time during impact. The experimental and simulation results are compared for different lengths of the link.
Highlights
An important improvement for this technical domain was produced through the development of new modern fields of engineering as computer aided design, robotics, and biomechanics
High speed image acquisition, and processing devices and increased computer resources better support the ability for practical verification of the theoretical models. e diversity of applications must take into consideration the shape of impacting bodies, the materials, and the dynamics conditions including angles, speeds, accelerations and frictions
Different types of behaviors depending of the nature of the constituent materials of the impacting bodies were studied: elastoplastic impact [2, 3, 6, 8, 12,13,14], nonlinear elastic [1, 15], elastic [16], elastic-perfectly plastic [17], and nearly complete elastic [14, 18]. e material properties were studied from the point of view of the influence of the impact behavior: incompressible isotropic [5], nanoparticles [15], 3D-printed polymers [11], transmembrane domains [19], stable CuO nanoparticle enhanced lubricants [16], Al-6061 instrumented spherical microindentation and microstructurally graded samples [20], and various finishes [21]. e direction of the impact is another factor to be considered in modeling the impact: normal [6], oblique [10, 13, 22], normal, and tangential [7]
Summary
An important improvement for this technical domain was produced through the development of new modern fields of engineering as computer aided design, robotics, and biomechanics. E main objective of this paper is to propose a model for the mechanical impact, meant to support a more accurate design procedure for mechatronics and robotics systems.
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