Impact analysis of linked manipulator systems using wave propagation theory

The formulation and impact dynamic response of an n-link flexible manipulator systems using stress wave propagation theory is discussed. The usual method for deriving the intermittent motion of multibody systems has some limitations, such as the need to specify the value of the coefficient of restitution. In our analysis we apply wave propagation theory, which takes into account the mechanical properties and the initial velocities of the impacting bodies, and extend this theory to multibody systems. 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. We only consider the linear elasticity of the impacting body and neglect the plasticity and fracture. By using wave propagation theory, we can obtain the impact stress history, and realize that the coefficient of restitution depends on the dimension or shape of the bodies