Name
Title | ||
|---|---|---|
Experimental Verification and Graphical Characterization of Dynamic Jamming in Frictional Rigid-Body Mechanics |
Abstract | ||
|---|---|---|
The dynamics of a rigid body sliding on a frictional contact can have multiple solutions as well as sudden contact-mode transitions. This paper is concerned with dynamic jamming, an event where a sliding rigid body suddenly jamms and experiences an impact-like transition into free flying mode. Using a simple experiment that mimics a sliding rigid-body situation, dynamic jamming is recorded for the first time. The phenomenon occurs almost at the theoret- ical position-and-velocity prediction, indicating that this type of jamming is not a mere artifact of the rigid-body modeling paradigm. A new interpretation of dynamic jamming is offered in terms of the body's instantaneous acceleration center. Once this center reaches a graphically determinable jamming line, the body ceases its sliding mode and experiences a dy- namic jamming event. Based on this insight, some ways to prevent dynamic jamming are discussed. |
Year | DOI | Venue |
|---|---|---|
2007 | 10.1109/ROBOT.2007.363049 | Roma |
Keywords | Field | DocType |
friction,kinematics,mechanical contact,contact-mode transition,dynamic jamming,experimental verification,frictional contact,frictional rigid-body mechanics,graphical characterization,position-and-velocity prediction,rigid body sliding | Kinematics,Control theory,Control engineering,Rigid body,Mechanics,Acceleration,Engineering,Jamming | Conference |
Volume | Issue | ISSN |
2007 | 1 | 1050-4729 E-ISBN : 1-4244-0602-1 |
ISBN | Citations | PageRank |
1-4244-0602-1 | 1 | 0.37 |
References | Authors | |
6 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Daniel Meltz | 1 | 1 | 0.37 |
| Yizhar Or | 2 | 90 | 13.15 |
| Elon Rimon | 3 | 1128 | 157.34 |