Robotic Pseudo-Dynamic Testing (RPsDT) of Contact-Impact Scenarios

摘要

This paper presents a hybrid test method that enables the investigation of contact-impact scenarios in complex systems using kine-matically versatile, off-the-shelf industrial robots. Based on the pseudo-dynamic test method, the technique conducts tests on an enlarged time scale, thereby circumventing control rate and response time limitations of the transfer system. An initial exploratory study of a drop test demonstrates that non-rate dependant effects including non-linear stiffness and structural hysteresis can be captured accurately while limitations result from the neglect of rate- and time-dependant effects such as viscous damping and creep. Future work will apply the new method to contact scenarios in air-to-air refuelling.