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.
|Title of host publication||Towards Autonomous Robotic Systems|
|Subtitle of host publication||16th Annual conference, TAROS 2015, Liverpool, UK, September 8 - 10, 2015, Proceedings|
|Editors||Claire Dixon, Karl Tuyls|
|Number of pages||6|
|Publication status||Published - 18 Jul 2015|
|Name||Towards Autonomous Robotic Systems|