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

[+] Author and Article Information
Y. Stepanenko, T. S. Sankar

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

J. Dyn. Sys., Meas., Control 108(1), 9-16 (Mar 01, 1986) (8 pages) doi:10.1115/1.3143750 History: Received November 05, 1985; Online July 21, 2009


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.

Copyright © 1986 by ASME
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