Analysis of contact-impact dynamics of soft finger tapping system by using hybrid computational model. (English) Zbl 1481.74589

Summary: The aim of this paper is to develop an efficient hybrid computational model to analyze the frictional impact dynamic responses of soft finger during the tapping event. The large deformation field and inertial field of soft structure are discretized by absolute nodal coordinate formulation. Lagrange multiplier method is adopted to account for the constraints between neighbor phalanges. Considering tangential contact compliance, a lumped-parameter model at the local contact zone is presented to calculate contact forces. The governing equations of soft finger tapping system expressed by generalized coordinates are derived. An event driven scheme is given to analyze and evaluate the stick-slip transitions. The governing equation is integrated by generalized-\(\alpha\) method. The applications of the hybrid computational model are demonstrated using various soft finger tapping systems acted by different driven moments. The feasibility of the proposed model is validated by comparing with the LS-DYNA solution. The error of the solution calculated by the proposed model for the peak value of contact force is less than 8%. Furthermore, numerical results show that the large structural compliance and driven moments have significant effect on the frictional impact responses. The normal relative motion between the fingertip and the rough target surface will experience \(1\sim 4\) compression-restitution transitions when Young’s Modulus is from 0.01 GPa to 1 GPa or the slenderness ratio of phalanx is from 10.7 to 32. When the posture of soft finger is convex at impact instance, the tangential relative motion will experience 3 slip-stick transitions during the contact process. In addition, it also can be found that the tangential contact compliance can reverse the direction of slip (i.e. ‘reverse slip’ phenomenon).


74M20 Impact in solid mechanics


Full Text: DOI


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