Abstract
マニピュレータが壁などと接触する際に発生する，衝撃力を予測するシステムを開発した．センサなどを用いず，計算力学的手法の一種である有限要素法により衝撃力を予測するのが目的である．力積の与え方による変化，ギャップ要素の導入による壁剛性の考慮について言及し，実機のセンサ値との比較･検証を行った．
Generally, force sensors do not have high reliability in their detected values, especially for dynamic forces. We discuss a new methodology to obtain the distribution of impact forces in manipulators, by considering the numerical model of the mechanism. In this research, a prediction system of impact force using the Finite Element Method is developed, based upon the incremental equation of motion considering the volume force generated by the motion. Expression of contact is discussed, in this paper, on two ways; (a) the impulse method and (b) the gap-element method. The numerical results show that the impulse time and the material properties of gap elements in each method give an appropriate influence against the vibration produced by impact force.