The Determination of the Velocities after Impact for the Constrained Bar Problem
Joint Authors
Schäfer, Bernd
de Souza, Luiz Carlos Gadelha
Fenili, André
Source
Mathematical Problems in Engineering
Issue
Vol. 2009, Issue 2009 (31 Dec. 2009), pp.1-16, 16 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2010-03-09
Country of Publication
Egypt
No. of Pages
16
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Fenili, André& de Souza, Luiz Carlos Gadelha& Schäfer, Bernd. 2010. The Determination of the Velocities after Impact for the Constrained Bar Problem. Mathematical Problems in Engineering،Vol. 2009, no. 2009, pp.1-16.
https://search.emarefa.net/detail/BIM-467811
Modern Language Association (MLA)
Fenili, André…[et al.]. The Determination of the Velocities after Impact for the Constrained Bar Problem. Mathematical Problems in Engineering No. 2009 (2009), pp.1-16.
https://search.emarefa.net/detail/BIM-467811
American Medical Association (AMA)
Fenili, André& de Souza, Luiz Carlos Gadelha& Schäfer, Bernd. The Determination of the Velocities after Impact for the Constrained Bar Problem. Mathematical Problems in Engineering. 2010. Vol. 2009, no. 2009, pp.1-16.
https://search.emarefa.net/detail/BIM-467811
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-467811