A STUDY ON THE MATERIAL MODELING OF A ROBOT POLYURETHANE STOPPER

摘要

Polyurethane stoppers are used to protect heavy parts from damage in case of an unpredicted impact between parts in a robot. In order to evaluate the performance of a polyurethane stopper during impact, it was necessary to model the material behavior. Thus, the compression test, the tension test, the pure shear test, the torsion vibration test were conducted, and the hyperelastic material constants and viscoelastic material constants (Prony series parameters) were determined. Finite element simulations for the tests were conducted to check whether the material model adequately represented the material behavior. In addition, a finite element simulation for an impact between a part of a robot and a stopper was conducted to evaluate the performance of a stopper.