Differential Formulation for the Coefficient of Restitution of a Rigid Link

Dorian Cojocaru; Dan B. Marghitu

doi:10.4028/www.scientific.net/AMM.762.175

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 762Differential Formulation for the Coefficient of...

Differential Formulation for the Coefficient of Restitution of a Rigid Link

Abstract:

The differential impact equations of motion are developed using an nonlinear contact force. The nonlinear equations of motion are written using symbolical MATLAB and are solved using numerical techniques. The impact equations are based on the Kogut-Etsion model. The numerical results are obtained for different geometries of the link, different coefficients of friction, and different initial conditions. The coefficient of restitution (COR) is discussed for specific cases. The results can be used for the impact of mobile robots with different type of surfaces.