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首页> 外文会议>IEEE/RSJ International Conference on Intelligent Robots and Systems;IROS 2009 >An experimental study and modeling of loading and unloading of nonlinear viscoelastic contacts
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An experimental study and modeling of loading and unloading of nonlinear viscoelastic contacts

机译：非线性粘弹性接触的加载与卸载的实验研究与建模

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摘要

The latency model is an analytical model for describing the behavior of nonlinear viscoelastic contact interface in robotic grasping and manipulation. The latency model is based on experimental observation of viscoelastic materials which exhibit the behavior of both elastic and temporal responses when subject to external force or displacement. It is postulated that such materials display latency in response of external influence by the rearrangement of molecules, holes, and structures in order to achieve an equilibrium state corresponding to the instantaneous loading. As a result, we propose that there are temporal latent activities in progress before the material reaches the equilibrium state. In the previous study, the latent activity of strain re-distribution with a prescribed constant displacement was presented using both theoretical modeling and experimental results. In this paper, we build upon this latency model to study the behavior of viscoelastic materials under different loading rates with experimental results. The latency model is employed to explain the behavior of responses of hard and soft viscoelastic materials typically found in robotic contact and grasping.
机译：潜伏期模型是一种用于描述非线性粘弹性接触界面在机器人抓取和操纵中的行为的分析模型。潜伏期模型基于对粘弹性材料的实验观察，这些粘弹性材料在受到外力或位移时会同时表现出弹性和时间响应。假定这样的材料通过分子，空穴和结构的重排而响应于外部影响而表现出等待时间，从而获得与瞬时载荷相对应的平衡状态。因此，我们建议在材料达到平衡状态之前，存在一些潜在的潜伏活动。在先前的研究中，使用理论模型和实验结果都介绍了具有规定恒定位移的应变重新分布的潜在活动。在本文中，我们基于此等待时间模型来研究粘弹性材料在不同加载速率下的行为并获得实验结果。潜伏模型用于解释通常在机器人接触和抓握中发现的硬，软粘弹性材料的响应行为。

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