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TECHNICAL PAPERS

On the Modeling of Flexible-Link Planar Mechanisms: Experimental Validation of an Accurate Dynamic Model

[+] Author and Article Information
Alessandro Gasparetto

Dipartimento di Ingegneria Elettrica, Gestionale e Meccanica-Università di Udine, Via delle Scienze 208, I-33100 Udine Italye-mail: gasparetto@uniud.it

J. Dyn. Sys., Meas., Control 126(2), 365-375 (Aug 05, 2004) (11 pages) doi:10.1115/1.1767856 History: Received September 22, 2003; Online August 05, 2004
Copyright © 2004 by ASME
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References

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Figures

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Definitioin of the node numbers and the link numbers for the five-bar flexible linkage used for the experimental validation of the model
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Definition of the DOFs fo the nodes for the five-bar flexible linage
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The mechanism built in the laboratory for the experimental validation of the model
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The torque transducer built in the laboratory
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The recorded torque at motor 1
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The recorded torque at motor 2
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Displacement of the mechanism, with respect to node 4 (zoomed), at the midspan of link 2. Experimental recordings compared with the simulation results (time interval: 0−0.7 s)
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Displacement of the mechanism, with respect to node 4 (zoomed), at the midspan of link 2. Experimental recordings compared with the simulation results (time interval: 0.7−1.4 s)
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Acceleration of the mechanim at the midspan of link 2 during the upwards motion. Experimental recordings compared with the simulation results (time interval: 0−1.4 s)
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Acceleration of the mechanism (zoomed) at the midspan of link 2. Experimental recordings compared with the simulation results (time interval): 0−0.7 s)
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Acceleration of the mechanism (zoomed) at the midspan of link 2. Experimental recordings compared with the simulation results (time interval: 0.7−1.4 s)
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Comparison between the experimental and simulated displacement of the mechanism, with respect to node 4, of the midspan of link 2 (downwards motion)
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Comparison between the experimental and simulated acceleration of the midspan of link 2 of the flexible mechanism (downwards motion)

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