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

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Abstract

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
PublisherSpringer
Pages50-55
Number of pages6
ISBN (Electronic)978-3-319-22416-9
ISBN (Print)978-3-319-22415-2
DOIs
Publication statusPublished - 18 Jul 2015

Publication series

NameTowards Autonomous Robotic Systems
Volume9287
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

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Bolien, M., Iravani, P., & Du Bois, J. L. (2015). Robotic Pseudo-Dynamic Testing (RPsDT) of Contact-Impact Scenarios. In C. Dixon, & K. Tuyls (Eds.), Towards Autonomous Robotic Systems: 16th Annual conference, TAROS 2015, Liverpool, UK, September 8 - 10, 2015, Proceedings (pp. 50-55). [Chapter 7] (Towards Autonomous Robotic Systems; Vol. 9287). Springer. https://doi.org/10.1007/978-3-319-22416-9_7