Modeling of Impact on a Flexible Beam
Abstract
High-precision control of robotic manipulators has been becoming increasingly important in a variety of applications (e.g., laser beam technology, semiconductor wafer manufacturing, etc.). This requires paying extra attention to the usual dynamical effects as well as taking into consideration otherwise ignored features such as dynamical effects due to impact. The authors consider the problem of modeling the dynamical effects of impact of an elastic body on a flexible beam. They derive a nonlinear integral equation by using Hertz's law of impact in conjunction with the beam equation. This equation does not admit a closed-form solution. They demonstrate the existence of solutions, derive a reliable numerical method for computing solutions, and compare the numerical results with those obtained by others. For the sake of simplicity, they only consider an elastic beam subject to impact forces occurring from contact with an elastic body. Here they restrict attention to the problem of modeling, existence of solutions to the model, and the computational aspects. Issues such as how to control the manipulators to minimize the spurious effects due to impact will be addressed in the future.
Document Details
- Document Type
- Technical Report
- Publication Date
- Jan 01, 1993
- Accession Number
- ADA454937
Entities
People
- P.S.Krishnaprasad
- Q. F. Wei
- W. P. Dayawansa
Organizations
- University of Maryland