Robotic Pseudo-Dynamic Testing (RPsDT) of Contact-Impact Scenarios

Mario Bolien, Pejman Iravani, Jonathan Luke Du Bois

Research output: Chapter or section in a book/report/conference proceedingOther chapter contribution

3 Citations (SciVal)
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This paper presents a hybrid test method that enables the investigation of contact-impact scenarios in complex systems using kinematically versatile, off-the-shelf industrial robots. Based on the pseudo-dynamic test method, the technique conducts tests on an enlarged time scale, thereby circumventing control rate and response time limitations of the transfer system. An initial exploratory study of a drop test demonstrates that non-rate dependant effects including non-linear stiffness and structural hysteresis can be captured accurately while limitations result from the neglect of rate- and time-dependant effects such as viscous damping and creep. Future work will apply the new method to contact scenarios in air-to-air refuelling.
Original languageEnglish
Title of host publicationTowards Autonomous Robotic Systems
Subtitle of host publication16th Annual conference, TAROS 2015, Liverpool, UK, September 8 - 10, 2015, Proceedings
EditorsClaire Dixon, Karl Tuyls
Number of pages6
ISBN (Electronic)978-3-319-22416-9
ISBN (Print)978-3-319-22415-2
Publication statusPublished - 18 Jul 2015

Publication series

NameTowards Autonomous Robotic Systems
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


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