Thesis--University of Adelaide, 1961. / Typewritten.

In this thesis, we discuss a novel approach to the dynamics modelling and analysis of impact in unilaterally constrained multibody systems. This approach is based on an analysis of energy absorption and restitution during impact, using a decomposition technique, which decouples the kinetic energy associated with the spaces of admissible and constrained motions of unilateral contacts. This is done based on the decomposition of the tangent space of the configuration manifold at the pre-impact instant. The decomposition of the kinetic energy can provide a picture of how the energy absorption and dissipation during impact is related to the variation of the generalized velocities and the configuration of multibody systems. / Further, based on the above analysis approach, we introduce a new interpretation of the energetic coefficient of restitution, specially applicable to contact involving multibody systems. This interpretation generalizes the concept of the energetic coefficient of restitution and allows for consideration of simultaneous multiple-point contact scenarios. Moreover, based on the concept of the generalized energetic coefficient of restitution, the contact modes and the post-impact state of planar single-point impact are determined. Further, the problem of simultaneous multiple-point impact is considered, where it is shown that our approach can also be advantageous to characterize the dynamics of interaction in such systems. / The use and applicability of the approach reported are further investigated by conducting an experimental study on a robotic testbed. The open architecture of the testbed allows us to perform various contact experiments, such as single- and multiple-point impact scenarios, with different pre-impact configurations and velocities. The kinematic and dynamic models of the system have been developed and implemented for real-time analysis. It is shown that impact between multibody systems is considerably affected by not only the local dynamics characteristics of the interacting bodies, but also the (global) configuration of the interacting multibody systems. The reported results suggest that the material presented herein offers a useful means to characterize impact in complex systems.

Thesis(M.S.)--Auburn University, 2008. / Abstract. Vita. Includes bibliographic references (p.69-71).

No description available.

No description available.

Thesis (M.S. in Mechanical Engineering)--Naval Postgraduate School, June 2008. / Thesis Advisor(s): Kwon, Young W. "June 2008." Description based on title screen as viewed on August 26, 2008. Includes bibliographical references (p. 51). Also available in print.

Thesis (Ph. D.)--Rutgers University, 2009. / "Graduate Program in Computer Science." Includes bibliographical references (p. 132-139).

No description available.

The influence of three elastic contact models on the dynamics of the drilling module is studied by representing the percussive drilling process as a drifting oscillator. The Kelvin-Voigt, Hertz stiffness and nonlinear stiffness and damping models were considered. The local dynamics of the system were found to be almost identical for the three models. Hence the Kelvin-Voigt system adequately describes the local dynamics of the system. However, for larger frequency and higher damping the behaviour of the three models differed. Experimental indentation studies were carried out on sandstones samples using static and dynamic loading. A force penetration relation was obtained for the loading and unloading phases of the indentation using a conical and spherical indenter under quasi-static conditions. Conical indentation tests were carried out in dynamic conditions. Both experiments showed that the force penetration relationship that could describe the contact model were closer to that obtained for the elastic-plastic indentation of ductile materials. The dynamic model for the drilling module was developed using an elastic plastic model for conical and spherical indenter. In addition, the model’s parameters were modified to those obtained from the experiments and used for the comparison with the results obtained for the elastic plastic model. The result obtained suggested a topological similarity between the experimental and theoretical parameters. It was also noted that the results suggested that the conical indenter appeared to be more efficient of the two indenter types considered. Finally, the rock fracture as a result of its contact with the drill-bit insert was investigated. For simplicity, the inserts are considered as flat punch and the contact problem is treated as a plane strain problem. Experimental studies were also carried out to determine the crack initiation angle in sandstone.

This paper addresses contact sensing, i.e. the problem of resolving the location of a contact, the force at the interface and the moment about the contact normals. Called "intrinsic'' contact sensing for the use of internal force and torque measurements, this method allows for practical devices which provide simple, relevant contact information in practical robotic applications. Such sensors have been used in conjunction with robot hands to identify objects, determine surface friction, detect slip, augment grasp stability, measure object mass, probe surfaces, control collision and a variety of other useful tasks. This paper describes the theoretical basis for their operation and provides a framework for future device design.