Motivation Model Experiments Results Conclusions Volumetric Contact Dynamics Models and Validation Mike Boos and John McPhee Department of Systems Design Engineering University of Waterloo Canada May 26, 2010 Mike Boos and John McPhee Volumetric Contact Dynamics Models and Validation 1/ 28
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IMSD 2010: Volumetric Contact Dynamics Models and Validation
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MotivationModel
ExperimentsResults
Conclusions
Volumetric Contact DynamicsModels and Validation
Mike Boos and John McPhee
Department of Systems Design EngineeringUniversity of Waterloo
Canada
May 26, 2010
Mike Boos and John McPhee Volumetric Contact Dynamics Models and Validation 1/ 28
Mike Boos and John McPhee Volumetric Contact Dynamics Models and Validation 23/ 28
MotivationModel
ExperimentsResults
Conclusions
Conclusions
Volumetric contact dynamics model discussed
Experimental procedure and apparatus developed for normalforce parameter identification and validation
Quasi-static experiments show linear relationship betweenvolume of interference and contact force
Non-linearity at low pressure for aluminum likely due to surfaceasperities
Damping factors measured for elastomer over a low range ofspeeds
Mike Boos and John McPhee Volumetric Contact Dynamics Models and Validation 24/ 28
MotivationModel
ExperimentsResults
Conclusions
Conclusions
Volumetric contact dynamics model discussed
Experimental procedure and apparatus developed for normalforce parameter identification and validation
Quasi-static experiments show linear relationship betweenvolume of interference and contact force
Non-linearity at low pressure for aluminum likely due to surfaceasperities
Damping factors measured for elastomer over a low range ofspeeds
Mike Boos and John McPhee Volumetric Contact Dynamics Models and Validation 24/ 28
MotivationModel
ExperimentsResults
Conclusions
Conclusions
Volumetric contact dynamics model discussed
Experimental procedure and apparatus developed for normalforce parameter identification and validation
Quasi-static experiments show linear relationship betweenvolume of interference and contact force
Non-linearity at low pressure for aluminum likely due to surfaceasperities
Damping factors measured for elastomer over a low range ofspeeds
Mike Boos and John McPhee Volumetric Contact Dynamics Models and Validation 24/ 28
MotivationModel
ExperimentsResults
Conclusions
Conclusions
Volumetric contact dynamics model discussed
Experimental procedure and apparatus developed for normalforce parameter identification and validation
Quasi-static experiments show linear relationship betweenvolume of interference and contact force
Non-linearity at low pressure for aluminum likely due to surfaceasperities
Damping factors measured for elastomer over a low range ofspeeds
Mike Boos and John McPhee Volumetric Contact Dynamics Models and Validation 24/ 28
MotivationModel
ExperimentsResults
Conclusions
Conclusions
Volumetric contact dynamics model discussed
Experimental procedure and apparatus developed for normalforce parameter identification and validation
Quasi-static experiments show linear relationship betweenvolume of interference and contact force
Non-linearity at low pressure for aluminum likely due to surfaceasperities
Damping factors measured for elastomer over a low range ofspeeds
Mike Boos and John McPhee Volumetric Contact Dynamics Models and Validation 24/ 28
MotivationModel
ExperimentsResults
Conclusions
Future work
Damping testing at higher speeds and with aluminum
Sphere-on-plane contact
Validation of friction contact model for translation androtation
Mike Boos and John McPhee Volumetric Contact Dynamics Models and Validation 25/ 28
MotivationModel
ExperimentsResults
Conclusions
Future work
Damping testing at higher speeds and with aluminum
Sphere-on-plane contact
Validation of friction contact model for translation androtation
Mike Boos and John McPhee Volumetric Contact Dynamics Models and Validation 25/ 28
MotivationModel
ExperimentsResults
Conclusions
Future work
Damping testing at higher speeds and with aluminum
Sphere-on-plane contact
Validation of friction contact model for translation androtation
Mike Boos and John McPhee Volumetric Contact Dynamics Models and Validation 25/ 28
MotivationModel
ExperimentsResults
Conclusions
References
Y. Gonthier. Contact Dynamics Modelling for Robotic TaskSimulation. PhD thesis, University of Waterloo, 2007.
Y. Gonthier, J. McPhee, and C. Lange. On the implementation ofcoulomb friction in a volumetric-based model for contactdynamics. In Proceedings of ASME IDETC, Las Vegas, Nevada,September 2007.
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MotivationModel
ExperimentsResults
Conclusions
Research supported by
Mike Boos and John McPhee Volumetric Contact Dynamics Models and Validation 27/ 28
MotivationModel
ExperimentsResults
Conclusions
Questions
Mike Boos and John McPhee Volumetric Contact Dynamics Models and Validation 28/ 28