Robotic Pseudo-Dynamic Testing (RPsDT) of Contact-Impact Scenarios

This paper presents a hybrid test method that enables the investigation of contact-impact scenarios in complex systems using kinematically versatile, off-the-shelf industrial robots. Based on the pseudodynamic test method, the technique conducts tests on an enlarged time scale, thereby circumventing control rate and response time limitations of the transfer system. An initial exploratory study of a drop test demonstrates that non-rate dependant effects including non-linear stiffness and structural hysteresis can be captured accurately while limitations result from the neglect of rateand time-dependant effects such as viscous damping and creep. Future work will apply the new method to contact scenarios in air-to-air refuelling.