A Finite Element Scheme for Impact Force Prediction of Robotic Mechanisms
Daigoro Isobe*, and Yoshiaki Moriya**
*Department of Engineering Mechanics and Energy, University of Tsukuba, 1-1-1 Tennodai, Tsukuba-shi, Ibaraki 305-8573, Japan
**Toyota Motors Co., 523 Toyota, Toyota-shi, Aichi 471-0826, Japan
Stress in robots operating at high speed may be considerable. Robots can also be subjected to unexpected, large reaction forces that may not be detected by sensors during high-speed impact. These present major problems since impact may damage the robotic mechanism. We propose the concept of impact force prediction using numerical models and a low-cost finite element scheme considering inertia and large motion of the whole system. We developed a scheme using gap elements to simulate the contact-impact phenomenon. To check the scheme’s validity, we conducted tests and experiments whose results show that impact analysis considering the stiffness of contact objects is possible. Peak of impact forces in numerical analysis agrees well with those of experiments.
-  D. Isobe, and Y. Ishii, “Attitude Determination and Motion Planning of Robotic Architecture in View of Its Structural Strength,” Journal of the Robotics Society of Japan, Vol.22, No.1, pp. 75-82, 2004.
-  “Textbook of Workshop on New Techniques on Vibration,” Impact Measurements, JSME No.04-76, 2004.
-  JSME Mechanical Engineers’ Concise Handbook, 6th Edition, 1990.
-  Y. Fujii, D. Isobe, S. Saito, H. Fujimoto, and Y. Miki, “A Method for Determining the Impact Force in Crash Testing,” Mechanical Systems and Signal Processing, Vol.14, No.6, pp. 959-965, 2000.
-  N. Kikuchi, and J. T. Oden, “Contact Problems in Elasticity: A Study of Variational Inequalities and Finite Element Methods,” SIAM Studies in Applied Mathematics, Philadelphia, 1988.
-  Z. H. Zhong, “Finite Element Procedures for Contact-Impact Problems,” Oxford University Press, New York, 1993.
-  D. J. Benson, and J. O. Hallquist, “A Single Surface Contact Algorithm for the Post-Buckling Analysis of Shell Structures,” Computer Methods in Applied Mechanics and Engineering, Vol.78, pp. 141-163, 1990.
-  A. L. Florence, P. R. Gefken, and S. W. Kirkpatrick, “Dynamic Plastic Buckling of Copper Cylindrical Shells,” International Journal of Solids and Structures, Vol.27, No.1, pp. 89-103, 1991.
-  T. Belytschko, and J. I. Lin, “A Three-Dimensional Impact-Penetration Algorithm with Erosion,” Computers and Structures, Vol.25, pp. 95-104, 1987.
-  G. Camacho, and M. Ortiz, “Adaptive Lagrangian Modelling of Ballistic Penetration of Metallic Targets,” Computer Methods in Applied Mechanics and Engineering, Vol.142, pp. 269-301, 1997.
-  H. Takeuchi, S. Goma, A. Sano, and H. Fujimoto, “Modeling of Soft Deformable Object Operating for Interactive Surgery Simulation,” Transactions of the Virtual Reality Society of Japan, Vol.8, No.2, pp. 137-144, 2003.
-  Y. Kuroda, M. Nakao, T. Kuroda, H. Oyama, M. Komori, and T. Matsuda, “Interaction Model between Elastic Objects for Organorgan Contact Simulation,” Transactions of the Virtual Reality Society of Japan, Vol.8, No.2, pp. 155-162, 2003.
-  J. A. Zukas, “High Velocity Impact Dynamics,” Wiley, New York, 1990.
-  D. Isobe, and K. M. Lynn, “Structural Collapse Analysis of Steel Framed Structure due to Aircraft Collision,” Journal of Structural and Construction Engineering, AIJ, No.579, pp. 39-46, 2004.
-  Y. Toi, “Shifted Integration Technique in one-dimensional plastic collapse analysis using linear and cubic finite elements,” International Journal for Numerical Methods in Engineering, Vol.31, pp. 1537-1552, 1991.
Copyright© 2006 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.