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Full-Text Articles in Mechanical Engineering
Sufficient Conditions Used In Admittance Selection For Planar Force-Guided Assembly, Shuguang Huang, Joseph M. Schimmels
Sufficient Conditions Used In Admittance Selection For Planar Force-Guided Assembly, Shuguang Huang, Joseph M. Schimmels
Mechanical Engineering Faculty Research and Publications
Admittance control approaches show significant promise in providing reliable force-guided assembly. An important issue in the development of these approaches is the specification of an appropriate admittance control law. This paper identifies procedures for selecting the appropriate admittance to achieve reliable planar force-guided assembly for single-point contact cases. A set of conditions that are imposed on the admittance matrix is presented. These conditions ensure that the motion that results from contact reduces part misalignment. We show that for bounded misalignment, if the conditions are satisfied for a finite number of contact configurations, the system ensures that force guidance is achieved …
A Simple Dynamics Experiment Based On Acoustic Emission, Mark L. Nagurka
A Simple Dynamics Experiment Based On Acoustic Emission, Mark L. Nagurka
Mechanical Engineering Faculty Research and Publications
This paper describes a simple experiment well suited for an undergraduate course in mechanical measurements and/or dynamics, in which physical information is extracted from an acoustic emission signature. In the experiment, a ping–pong ball is dropped onto a hard table surface and the audio signal resulting from the ball–table impacts is recorded. The times between successive bounces, or “flight times”, are used to determine the height of the initial drop and the coefficient of restitution of the impact. The experiment prompts questions about modeling the dynamics of a simple impact problem, including the use of the coefficient of restitution and …