Vibro-Impact Analysis of Control Systems With Mechanical Clearance and Its Application to Robotic Actuators-Reference-Cited by-同舟云学术

Vibro-Impact Analysis of Control Systems With Mechanical Clearance and Its Application to Robotic Actuators

Published:1986-03-01 Issue:1 Volume:108 Page:9-16
ISSN:0022-0434
Container-title:Journal of Dynamic Systems, Measurement, and Control
language:en
Short-container-title:

Author:

Stepanenko Y.¹,Sankar T. S.¹

Affiliation:

1. Department of Mechanical Engineering, Concordia University, Montreal, Quebec, Canada

Abstract

The paper presents a new approach to the analysis of the influence of breaks in the kinematic chains on the stability of robotic actuators possessing elastic properties. An appropriate dynamic model of a nonlinear element with clearance and elasticity is developed and an explicit solution is obtained for the harmonic vibro-impact motions of the model. The describing function of the nonlinear element is derived and is applied to the analysis of high frequency limit cycles in the actuators.

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

Link

http://asmedigitalcollection.asme.org/dynamicsystems/article-pdf/108/1/9/5560289/9_1.pdf

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