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  • Dynamics of a serial manipulator with gear backlash
    Vohar, Bojan ; Ren, Zoran ; Gotlih, Karl
    In this work the dynamic analysis of a single link manipulator is considered, with backlash and elasticity of the gear transmission taken into the account. Backlash is considered to be one of the ... most significant phenomena in gear dynamics that negatively influences on the manipulator motion accuracy. A description of a spur gear dynamics model that includes the effects of backlash and gear tooth elasticity is given, where it is shown the increased complexity of such a system comparing to an idealized, backlash-free one. The presented theory is then used for the dynamic analysis of a single link manipulator with Lagrangian method, and the computer algorithm for its solution is developed. The manipulator with backlash and elasticity is then compared to the equal, but stiff and backlash-free version. At the end results are shown, which confirm increased inaccuracy of the manipulator with backlash.
    Vir: Proceedings of Multibody dynamics 2005 [Elektronski vir] (13 str.)
    Vrsta gradiva - prispevek na konferenci
    Leto - 2005
    Jezik - angleški
    COBISS.SI-ID - 9652246

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