Experimental verification and graphical characterization of dynamic jamming in frictional rigid-body mechanics

Daniel Meltz, Yizhar Or, Elon Rimon

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages580-585
Number of pages6
DOIs
StatePublished - 27 Nov 2007
Externally publishedYes
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: 10 Apr 200714 Apr 2007

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2007 IEEE International Conference on Robotics and Automation, ICRA'07
Country/TerritoryItaly
CityRome
Period10/04/0714/04/07

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