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"This research is focused on studying the dynamic behavior of a four-bar mechanism with clearance. The presence of clearance in a revolute joint induces impacts between the journal and the sleeve. Therefore, it causes vibration, noise and decreases the efficiency of the mechanism. Two different methods are proposed to eliminate the undesirable effects of clearance in the joint through simulations and experiments. The first method, that is used to eliminate these impacts, relies on attaching a spring to a rigid four-bar mechanism. The impacts are predicted by monitoring the moment of the reaction force in the joint with clearance using MATLAB software simulations. It is shown that the impacts could be easily eliminated using adequate and optimized spring parameters. The optimization of the spring parameters is performed to keep the positive effects of adding the spring (eliminating the impacts) and to minimize its negative effects (high maximum input torque and its high fluctuations). The second method aims at studying the dynamic behavior of the mechanism with a flexible coupler link. The dynamic analysis of the flexible mechanism is investigated using two different materials of the coupler link (aluminum and steel) with two different thickness values for each material (3 and 4 mm for aluminum and 1.5 and 2 mm for the steel). The rigid mechanism is considered in this case with a coupler link made of steel with 5 mm thickness to highlight the difference between flexible and rigid mechanisms. The deformation of the flexible coupler links (using ideal joints) is investigated by measuring the strain values at three different speeds (277, 415 and 554 rpm). The obtained results show that the strain values are significantly affected by the crank speed and the thickness of the links. Experimental tests are performed to measure the accelerations for the follower of the four-bar mechanism using rigid and flexible coupler links. These measurements are done for the case of ideal joint (no clearance) and realistic joint with a clearance of 0.5 mm and 1 mm sizes at the three mentioned speeds for each case. The experimental results are validated through simulation tests using ADAMS software. These results confirm that the flexibility of the coupler has thus a role of a suspension for the mechanism."--Abstract.
In this study, dynamic behaviors of planar mechanisms with elastic linkages are investigated. For this purpose, slider-crank mechanisms which are widely used in many fields of industry are chosen. Flexible coupler of the mechanism is considered as a pin jointed beam under the effect of elastic oscillations in transverse direction. Euler-Bernoulli beam theory is considered to obtain dynamic responses of the elastic link. Lumped parameters approach is used to model the flexible links. Since, the assumption of small deflections is made, linear and continuous form of the elastic curve equation is written for each lumped masses on the beam to derive the equations of motion of the system. Derived set of nonlinear partial differential equations are reduced to ordinary differential equations by applying finite difference method. Finally, a symbolic mathematical program which gives the dynamic responses of the system is developed to solve the equations of motion. The results obtained from the developed program are tested and verified by the results available in the literature. Elastic deflection results are obtained for different parameters such as mass ratio and length ratio of the links of the mechanisms. The effects of the aforementioned parameters on dynamic response are found and presented in graphical forms.
This monograph presents an introduction into basic mechanical aspects of mechatronic systems for students, researchers and engineers from industrial practice. An overview over the theoretical background of rigid body mechanics is given as well as a systematic approach for deriving and solving model equations of general rigid body mechanisms in the form of differential-algebraic equations (DAE). The objective of this book is to prepare the reader for being capable of efficiently handling and applying general purpose rigid body programs to complex mechanisms. The reader will be able to set up symbolic mathematical models of planar and spatial mechanisms in DAE-form for computer simulations, often required in dynamic analysis and in control design.
Flexible Mechanisms such as slider crank and four-bar mechanisms are modeled and their dynamic instability and optimum design analyzed. The primary aim of the project was a thorough understanding and analysis of conditions of dynamic instability in flexible components of mechanisms and robots. Dynamic instability characterizes the behavior when amplitude of vibrations have a tendency to become unbounded with the passage of time. Other aims of the study included the optimal design of mechanisms on the basis of flexibility and control of stresses and deflections.