论文标题
具有两个单侧摩擦接触的平面刚体的稳定性理论的实验验证
Experimental Verification of Stability Theory for a Planar Rigid Body with Two Unilateral Frictional Contacts
论文作者
论文摘要
在具有多个单方面摩擦接触的机械系统中平衡状态的稳定性是重要的实际要求，与机器人应用相关。在我们以前的工作中，我们理论上分析了有限的Lyapunov稳定性，以最小的平面刚体模型，并具有两个摩擦点接触。 Assuming inelastic impacts and Coulomb friction, conditions for stability and instability of an equilibrium configuration have been derived.在这项工作中，我们首次使用该稳定性理论的实验证明，使用可变结构的刚性“ Bipip”“ Biped”，并在倾斜平面上摩擦脚垫。通过更改双头质量中心位置，我们达到了不同的平衡状态，这些状态通过散布或收敛对小扰动做出响应，与稳定理论的预测表现出显着的一致性。使用视频电影的高速记录，可以获得实验和数值模拟之间的良好定量一致性，并还研究了刚体模型和非弹性影响假设的局限性。 The results prove the utility and practical value of our stability theory.
Stability of equilibrium states in mechanical systems with multiple unilateral frictional contacts is an important practical requirement, with high relevance for robotic applications. In our previous work, we theoretically analyzed finite-time Lyapunov stability for a minimal model of planar rigid body with two frictional point contacts. Assuming inelastic impacts and Coulomb friction, conditions for stability and instability of an equilibrium configuration have been derived. In this work, we present for the first time an experimental demonstration of this stability theory, using a variable-structure rigid ''biped'' with frictional footpads on an inclined plane. By changing the biped's center-of-mass location, we attain different equilibrium states, which respond to small perturbations by divergence or convergence, showing remarkable agreement with the predictions of the stability theory. Using high-speed recording of video movies, good quantitative agreement between experiments and numerical simulations is obtained, and limitations of the rigid-body model and inelastic impact assumptions are also studied. The results prove the utility and practical value of our stability theory.
