A nonlinear dynamic characteristic modeling method of shift manipulator for robot driver with multiple clearance joints

被引：0
作者：
Gang Chen
Xinyao Xu
机构：
[1] Nanjing University of Science and Technology,School of Mechanical Engineering
来源：
Nonlinear Dynamics | 2022年 / 110卷
关键词：
Shift manipulator; Clearance joint; Nonlinear dynamics; Characteristic model;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
The clearance joint is very important to the nonlinear dynamic characteristics of mechanism. This paper presents a nonlinear dynamic characteristic modeling method of shift manipulator for robot driver to improve dynamic characteristics. Using the improved L-N contact force model and the modified Coulomb friction model, the normal contact force and the tangential contact force of clearance joint are analyzed. With multiple clearance joints, the nonlinear dynamic characteristic model of the shift manipulator for robot driver is established. The nonlinear dynamic characteristic laws of the shift manipulator including the end displacement, velocity, acceleration and active joint driving torque are analyzed by different sizes of clearance joints. And the performance test of the shift manipulator for robot driver is conducted. The results demonstrate that the nonlinear dynamic characteristics are well analyzed and the validity of the modeling method is verified through the presented characteristic model with full clearance joints.
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页码：219 / 236
页数：17
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