Nonlinear dynamics and control of crank–slider mechanism with link flexibility and joint clearance
Proceedings of the Institution of Mechanical Engineers, Part C …, 2016•journals.sagepub.com
Dynamical behaviors and control of planar crank–slider mechanism considering the effects
of joint clearance and link flexibility are studied. A control scheme for maintaining continuous
contact is proposed. It was observed that using one actuator for control scheme might cause
the actuator to reach its saturation limit, a problem that was bypassed by installing an
additional actuator on connecting rod. In one actuator case, only continuous contact can be
obtained, while with the aid of two actuators, point contact can be achieved. Great …
of joint clearance and link flexibility are studied. A control scheme for maintaining continuous
contact is proposed. It was observed that using one actuator for control scheme might cause
the actuator to reach its saturation limit, a problem that was bypassed by installing an
additional actuator on connecting rod. In one actuator case, only continuous contact can be
obtained, while with the aid of two actuators, point contact can be achieved. Great …
Dynamical behaviors and control of planar crank–slider mechanism considering the effects of joint clearance and link flexibility are studied. A control scheme for maintaining continuous contact is proposed. It was observed that using one actuator for control scheme might cause the actuator to reach its saturation limit, a problem that was bypassed by installing an additional actuator on connecting rod. In one actuator case, only continuous contact can be obtained, while with the aid of two actuators, point contact can be achieved. Great improvements in the performance of mechanism and reduction of vibrations are observed in the case of using an additional actuator.
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