Nonlinear dynamics and control of crank–slider mechanism with link flexibility and joint clearance

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...

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Bibliographic Details
Published in:Proceedings of the Institution of Mechanical Engineers. Part C, Journal of mechanical engineering science Journal of mechanical engineering science, 2016-03, Vol.230 (5), p.737-755
Main Authors: Yaqubi, Sadeq, Dardel, Morteza, Daniali, Hamidreza Mohammadi
Format: Article
Language:English
Subjects:
Actuators
Clearances
Contact
Flexibility
Links
Mechanical engineering
Mechanical engineers
Point contact
Vibration
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Summary: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.
ISSN:0954-4062
2041-2983
DOI:10.1177/0954406215593773