Experimental and Analytical Study of Pantograph Dynamics

[+] Author and Article Information
W. Seering, K. Armbruster, C. Vesely, D. Wormley

Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Mass. 02139

J. Dyn. Sys., Meas., Control 113(2), 242-247 (Jun 01, 1991) (6 pages) doi:10.1115/1.2896371 History: Received May 14, 1983; Revised July 02, 1990; Online March 17, 2008


A nonlinear, lumped parameter pantograph model including geometric and coulomb friction nonlinearities and variable stiffness has been developed. The model performance has been compared with experimental dynamic response data measured on a prototype pantograph. Responses of the model and the experimental data including subharmonic and harmonic resonances are in close agreement for motions excited by comparable forcing functions for input frequencies of 0 to 12 Hz. The model has been used to identify the primary parameters and nonlinear effects which influence dynamic pantograph performance.

Copyright © 1991 by The American Society of Mechanical Engineers
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