Abstract
This paper describes a hammering robot with a flexible link which can hit an object from an arbitrary direction in 3-dimensional space. A dynamic equation for the flexible link hammer is presented by taking gravity into consideration. The necessary conditions for the hammer to strike an object square-on with the only velocity normal to its face are investigated, and a manipulating method to satisfy these hitting conditions is obtained. Some applicatons of the hitting robot are given.
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Izumi, T., Zhou, H. Hitting robot with a flexible link hammer. Artif Life Robotics 3, 73–78 (1999). https://doi.org/10.1007/BF02481250
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DOI: https://doi.org/10.1007/BF02481250