説明
Since viscoelastic objects deform during operation processes, it is necessary to simulate the behavior of the objects and to estimate their deformation for the automatic operations. Consequently, a model of a viscoelastic object is needed for the simulation and the estimation of its deformation. We propose a lattice structure based modeling method for viscoelastic object deformation. First, the behavior of four element models is briefly explained. Next, a viscoelastic object is modeled as a lattice structure, where mass points are connected through four element models. We simulate shape deformation of the model when force input is applied to it. Validity of the model is then discussed. We also introduce a nonlinear damper (NLD) into a four element model in order to solve a discrepancy between an actual viscoelastic object and its linear model. By comparing the behavior of the two models, we show the validity of the model using NLDs.
収録刊行物
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- Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)
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Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C) 1 767-772, 2003-01-20
IEEE
