Influence of backlash in gear reducer on dynamic of single-link manipulator arm

Robotica ◽  
2014 ◽  
Vol 33 (08) ◽  
pp. 1671-1685 ◽  
Author(s):  
Jian-Wei Lu ◽  
Xiao-Ming Sun ◽  
Alexander F. Vakakis ◽  
Lawrence A. Bergman
Keyword(s):  
Dynamic Response ◽  
Dynamic Modeling ◽  
Excitation Frequency ◽  
Planetary Gear ◽  
Flexible Manipulator ◽  
Lumped Mass ◽  
Modeling And Control ◽  
Single Link ◽  
Manipulator Arm ◽  
And Control

SUMMARYThe dynamic modeling of a flexible single-link manipulator arm with consideration of backlash in the planetary gear reducer at the joint is presented, and the influence of backlash on the dynamic response of the system is evaluated. A 2K-H planetary gear reducer with backlash was employed as an example to discuss the dynamic modeling of the sub-model of the planetary gear reducer, and the sub-model of the planetary gear reducer was established based on the lumped mass method. The flexible manipulator was regarded as an Euler--Bernoulli beam, and the dynamic model of the flexible manipulator arm with backlash in the planetary gear reducer was determined from Lagrange's equations. Based on the this model, the influence of the backlash in the planetary gear reducer and excitation frequency on the dynamic response of the system were evaluated through simulation, and the results showed that the dynamic response of the system is sensitive to the backlash and the excitation frequency simultaneously, which provides a theoretical foundation for improvement of dynamic modeling and control of the flexible manipulator arm.

Modeling and Control of Linear Two-time Scale Systems: Applied to Single-Link Flexible Manipulator

2006 ◽  
Vol 45 (3) ◽  
pp. 235-265 ◽  
Author(s):  
H. R. Karimi ◽  
M. J. Yazdanpanah ◽  
R. V. Patel ◽  
K. Khorasani
Keyword(s):  
Time Scale ◽  
Flexible Manipulator ◽  
Modeling And Control ◽  
Single Link ◽  
And Control

Analysis of nonlinear dynamic characteristic of a planetary gear system considering tooth surface friction

2021 ◽  
pp. 135065012199174
Author(s):  
Jingyue Wang ◽  
Ning Liu ◽  
Haotian Wang ◽  
Jiaqiang E
Keyword(s):  
Damping Ratio ◽  
Excitation Frequency ◽  
Planetary Gear ◽  
Gear System ◽  
Tooth Surface ◽  
Lumped Mass ◽  
Heavy Load ◽  
Light Load ◽  
Planetary Gear System ◽  
Bifurcation Behavior

Based on the lumped mass method, a torsional vibration model of the planetary gear system is established considering the nonlinear factors such as friction, time-varying meshing stiffness, backlash, and comprehensive error. The Runge–Kutta numerical method is used to analyze the motion characteristics of the system with various parameters and the influence of tooth friction on the bifurcation and chaos characteristics of the system. The numerical simulation results show that the system has rich bifurcation behavior with the excitation frequency, damping ratio, comprehensive error amplitude, load and backlash, and experiences multiple periodic motion and chaotic motion. Tooth friction makes the bifurcation behavior of the system fuzzy in the high frequency and heavy load areas, makes the chaos of the system restrained in the low-damping ratio and light load areas, advances the bifurcation point of the system in the small comprehensive error amplitude area, and makes the period window of the chaos area larger in the large-backlash area, which makes the bifurcation behavior of the system more complex.

Riccati Discrete Time Transfer Matrix Method for Dynamic Modeling and Simulation of an Underwater Towed System

2012 ◽  
Vol 79 (4) ◽  
Author(s):  
Guoping Wang ◽  
Bao Rong ◽  
Ling Tao ◽  
Xiaoting Rui
Keyword(s):  
Modeling And Simulation ◽  
Dynamic Modeling ◽  
Computational Efficiency ◽  
Finite Segment ◽  
Modeling And Control ◽  
Global Dynamic ◽  
Transfer Equations ◽  
High Matrix ◽  
Towed Cable ◽  
And Control

Efficient, precise dynamic modeling and control of complex underwater towed systems has become a research focus in the field of multibody dynamics. In this paper, based on finite segment model of cable, by defining the new state vectors and deducing the new transfer equations of underwater towed systems, a new highly efficient method for dynamic modeling and simulation of underwater towed systems is presented and the pay-out/reel-in process of towed cable is studied. The computational efficiency and numerical stability of the proposed method are discussed. When using the method to study the dynamics of underwater towed systems, it avoids the global dynamic equations of system, and simplifies solving procedure. Irrespective of the degree of freedom of underwater towed system, the matrices involved in the proposed method are always very small, which greatly improve the computational efficiency and avoids the computing difficulties caused by too high matrix orders for complex underwater towed systems. Formulations of the method as well as numerical simulations are given to validate the proposed method.

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