Preface | p. xiii |
Acknowledgments | p. xv |
The Authors | p. xvii |
Dynamics of a Machine System | p. 1 |
Composition of a Machine (as a Dynamic System) | p. 1 |
Operation Point versus Transmission Ratio | p. 2 |
Power Theorem in a Machine | p. 6 |
Reduction of Torques (and Forces) | p. 7 |
The Transitory | p. 10 |
Reduction of Inertias (and Masses) | p. 10 |
Backward Motion | p. 12 |
Periodic Rate | p. 13 |
Transmission at Constant | p. 14 |
Selection of a Transmission with Constant | p. 14 |
Transmission at Nonconstant | p. 15 |
Planar Linkages | p. 17 |
Analytical Methods for Planar Linkages | p. 26 |
Cam Systems | p. 29 |
Constraints between Motor and Transmission: Clutches | p. 37 |
Crank Slider Mechanism: Dynamics and Balancing | p. 46 |
Mass Distribution in the Crank Slider Mechanism | p. 46 |
Dynamics of the Crank-Slider Mechanism | p. 47 |
Vibration and Balancing of Engine Unit | p. 54 |
Discussion of Ratio X Characteristics | p. 58 |
Notes on Friction Phenomena in Machines | p. 58 |
Tribology Elements and Lubrication of Machines | p. 62 |
General | p. 63 |
A Thorough Analysis of Lubrication Typologies | p. 63 |
Lubrication Systems | p. 76 |
Particular Applications | p. 76 |
Critical Speeds | p. 79 |
Bending Critical Speeds (Bending Vibrations) | p. 79 |
Torsional Critical Speeds (Torsional Vibrations) | p. 83 |
Lubrication and Friction in Machines | p. 87 |
Elastohydrodynamic Lubrication | p. 87 |
Friction Coefficient Computation | p. 89 |
Lubricated Contacts in Mechanisms with Planar Cam | p. 99 |
Kinematics, Geometry, and Dynamics Inferences on Friction | p. 101 |
Transient and Localization | p. 110 |
Properties of Fluid and Surface | p. 112 |
Compliance-Manipulators with Flexible Links | p. 121 |
Model for the Bending Vibrations of a Link | p. 121 |
Approximation to Continuous Model | p. 124 |
tating Flexible Link | p. 24 |
Translating Flexible Link | p. 126 |
Modeling of Flexible Multilink Manipulator | p. 129 |
Kinematics of Flexible Link | p. 129 |
Discretization Methods | p. 132 |
Assumed-Modes Method | p. 132 |
Finite Element Model | p. 137 |
Dynamic Equations of Motion | p. 141 |
Control of Mono-Link Rotating Flexible Manipulator | p. 144 |
Transfer Function of Single Flexible Link | p. 144 |
Determination of Motion through Dynamic Inversion | p. 146 |
Experimental Verification of Results | p. 147 |
BacklashùCam Mechanisms and Coupling with Backlash | p. 151 |
Dynamic Response | p. 151 |
Multibody System Impact in the Presence of Hysteretic Dissipation | p. 153 |
Multibody System Impact in the Case of Lubricated Joints | p. 159 |
Simplified Model for Systems Impacts | p. 163 |
Model of a Cam Mechanism | p. 164 |
Reduction of Backlash Dynamic Effects | p. 166 |
Dynamic Optimization through Controlled Servomotors | p. 173 |
Dynamic Optimization Limits | p. 175 |
Calibration of Industrial Manipulators | p. 177 |
Parameters Characterizing Geometrical Performance | p. 177 |
Introduction | p. 177 |
Resolution, Repeatability, and Accuracy | p. 178 |
Performance Characteristics Evaluation | p. 180 |
Testing Conditions | p. 181 |
Pose Accuracy and Repeatability | p. 182 |
Multidirectional Pose Accuracy Variation | p. 184 |
Distance Accuracy and Repeatability | p. 184 |
Path Accuracy and Path Repeatability | p. 185 |
Path Velocity Performance Criteria | p. 185 |
Considerations | p. 186 |
Sources of Geometrical Errors | p. 187 |
Introduction | p. 187 |
Nongeometric Errors | p. 187 |
Geometric Errors | p. 188 |
Significance of Errors | p. 192 |
Restraint of the Consequences Triggered by the Presence of Geometrical Errors | p. 192 |
Introduction | p. 192 |
Robot Design | p. 193 |
Robot Calibration | p. 194 |
Robot Calibration | p. 195 |
Classification | p. 195 |
Calibration Process | p. 196 |
Modeling | p. 197 |
Measurement | p. 202 |
Identification | p. 209 |
Implementation | p. 212 |
Case of Study | p. 213 |
Dynamic Modeling of Industrial Robots | p. 219 |
Robotic System | p. 219 |
Experimental Tests on a Mono-Axis Prototype | p. 220 |
Description of the Mono-Axis System | p. 220 |
Requirements Satisfied by the System | p. 223 |
Possible Applications of the Mono-Axis System | p. 223 |
Experimental Evaluation of Some Mechanical Parameters of the Mono-Axis System | p. 225 |
Experimental Evaluation of the Stiffness in the Spring for Connecting the Two Bogies | p. 225 |
Experimental Evaluation of Viscous Damping and Sliding Friction | p. 226 |
The Backlash Effect on an Elastic Mechanical Transmission | p. 231 |
Analysis of the Dynamic Behavior of the Single-Axis System | p. 237 |
Bibliographic Notes | p. 240 |
Model of a SCARA Industrial Robot | p. 242 |
Introduction | p. 242 |
The SCARA Robot ICOMATIC 03 | p. 243 |
The Mathematical Model of the Robot Scara Icomatic 03 | p. 243 |
Estimation of the Model Parameters | p. 247 |
Measurements of Mass and Length | p. 248 |
Dynamic Tests for Estimating the Joints' Pliability | p. 48 |
Static Tests for Estimating the Joints' Pliability | p. 251 |
Summary and Comment of the Model Parameters Estimate | p. 252 |
Disturbance Induced by the Robot Controller | p. 255 |
Analysis of Real and Simulated Data | p. 258 |
Advantages and Defects of the Model | p. 264 |
Comparison of Reality Model: Conclusions | p. 265 |
Bibliographic Notes | p. 266 |
Intermittors | p. 267 |
Cam Intermittors | p. 267 |
Mathematical Models | p. 268 |
Rigid Model | p. 270 |
Rigid Model with Assigned Velocity of the Motor | p. 273 |
Rigid Model with Characteristic Curve of the Motor | p. 273 |
Elastic Model with; One Degree of Freedom | p. 273 |
Motor Transmission Intermittor and Joint-Table | p. 273 |
Elastic Model with One Degree of Freedom with Constant Motor Velocity | p. 276 |
Elastic Model with One Degree of Freedom with Characteristic Curve of the Motor | p. 276 |
Elastic Model with Two Degrees of Freedom | p. 277 |
Subsystem Motor-Reducer | p. 277 |
Subsystem-Compliant Elastoviscous Joint on the Drive Shaft | p. 278 |
Subsystem Intermittor | p. 278 |
Subsystem Downstream of the Intermittor | p. 279 |
Elastic Model with Two Degrees of Freedom and Constant Motor Velocity | p. 281 |
Elastic Model with Two Degrees of Freedom and Characteristic Curve of the Motor | p. 282 |
Model Utilization in the Simulations | p. 282 |
Integration of the Differential Equations of the Models | p. 283 |
Models Validation and Analysis of Parametric Sensibility | p. 283 |
Automatic Estimation of the Compliance Parameters at the Joints | p. 284 |
The Implemented Genetic Algorithm | p. 285 |
Selection Operator | p. 285 |
Crossover Operator | p. 286 |
Mutation Operator | p. 286 |
Validation of the Parametric Identification | p. 286 |
Comparison between Simulated and Experimental Data after Parametric Identification | p. 286 |
Approximate Estimation of the Compliance Parameters of the Joint Downstream of the Intermittor | p. 288 |
Comparison between the Developed Models | p. 289 |
Analysis of Parametric Sensibility | p. 294 |
Optimization of the Dynamic Behavior and Other Application Examples of the Developed Models | p. 297 |
Optimization of the CamProfile | p. 297 |
Optimization of the Cam Profile with Minimization of Negative Peak as Objective Function | p. 297 |
Optimization of the Cam Profile with Minimization of the Overshooting as Objective Function | p. 298 |
Optimization of the Cam Profile with Minimization of the Average Torque Provided by the Motor as Objective Function | p. 299 |
Utilization of the Model for the Foreknowledge of the System Dynamic Behavior | p. 300 |
Approximate Estimation of Overshooting | p. 301 |
Calculation of the Elasticity and Dampening of the Joint Downstream of the Intermittor | p. 301 |
Estimated Backlash in the Reducer | p. 301 |
Estimated Overshooting for Jc Equal to 190000 kgmm2 | p. 302 |
Approximate Estimation of Overshooting by Means of the Model with Two Degrees of Freedom | p. 303 |
Simulation and Calculation of the Overshooting for Jc Equal to 190000 kgmm2 | p. 305 |
References | p. 307 |
| p. 323 |
| p. 337 |
| p. 355 |
Index | p. 371 |
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