Active and passive strategies in dynamic contact point sensing by a flexible beam

M. M. Svinin, M. Kaneko, N. Ueno

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Dynamic model of a flexible beam in contact with environment is considered in this paper. The model serves as a background for a dynamic, active antenna type, contact point sensor. In its simplest realization the sensor can be implemented in the form of a flexible beam rotating in plane. The dynamic model is developed in the non-dimensional form and possible sensing strategies, active and passive, are outlined. Main feature of the sensor is the use of the frequency-versus-contact point curve which, for some regions, may be a multi-valued function. Basic properties of the sensing curves are formulated, and two points of interest - the point of maximal stiffness and the point of center of impact - are introduced into the analysis. Behaviour of the sensing curves is analyzed with respect to three system parameters - mass, inertia, and stiffness ratios. It is found that in some limiting, but practically attainable cases the sensing curve becomes a single-valued function within the working range of the sensor.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
PublisherIEEE
Pages84-90
Number of pages7
Volume1
Publication statusPublished - Dec 1 1997
EventProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 1 (of 3) - Grenoble, Fr
Duration: Sep 7 1997Sep 11 1997

Other

OtherProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 1 (of 3)
CityGrenoble, Fr
Period9/7/979/11/97

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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