TY - GEN
T1 - Experimental verification and graphical characterization of dynamic jamming in frictional rigid-body mechanics
AU - Meltz, Daniel
AU - Or, Yizhar
AU - Rimon, Elon
PY - 2007/11/27
Y1 - 2007/11/27
N2 - 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 theoretical 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 dynamic jamming event. Based on this insight, some ways to prevent dynamic jamming are discussed.
AB - 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 theoretical 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 dynamic jamming event. Based on this insight, some ways to prevent dynamic jamming are discussed.
UR - http://www.scopus.com/inward/record.url?scp=36349011936&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2007.363049
DO - 10.1109/ROBOT.2007.363049
M3 - Conference contribution
AN - SCOPUS:36349011936
SN - 1424406021
SN - 9781424406029
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 580
EP - 585
BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
T2 - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
Y2 - 10 April 2007 through 14 April 2007
ER -