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|
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