抄録
This paper discusses the formulation and impact dynamic response of an n-link flexible manipulator system using stress wave propagation theory for the impact analysis. The usual method to derive the intermittent motion of a multibody system has some limitations, such as the need to specify the value of the coefficient of restitution. In this paper, we apply wave propagation theory, which takes into account the mechanical properties and the initial velocities of the impacting bodies. In the analysis, the manipulator links are modeled as beams, and simple one dimensional theory is used for the longitudinal displacements and torsion, while Bernoulli-Euler theory is used for flexural displacements. As an additional result, the coefficient of restitution of the impact is derived.
