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A nonlinear dynamic characteristic modeling method of shift manipulator for robot driver with multiple clearance joints

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Abstract

The clearance joint is very important to the nonlinear dynamic characteristics of mechanism. This paper presents a nonlinear dynamic characteristic modeling method of shift manipulator for robot driver to improve dynamic characteristics. Using the improved L-N contact force model and the modified Coulomb friction model, the normal contact force and the tangential contact force of clearance joint are analyzed. With multiple clearance joints, the nonlinear dynamic characteristic model of the shift manipulator for robot driver is established. The nonlinear dynamic characteristic laws of the shift manipulator including the end displacement, velocity, acceleration and active joint driving torque are analyzed by different sizes of clearance joints. And the performance test of the shift manipulator for robot driver is conducted. The results demonstrate that the nonlinear dynamic characteristics are well analyzed and the validity of the modeling method is verified through the presented characteristic model with full clearance joints.

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Acknowledgements

This work is supported by the National Natural Science Foundation of China (Grant No. 51675281); the Fundamental Research Funds for the Central Universities (Grant No. 30918011101); the Six Talents Peak Project of Jiangsu Province (Grant 2015-JXQC-003).

Funding

This study was funded by the National Natural Science Foundation of China (NSFC); the Fundamental Research Funds for the Central Universities (NRFCU); and the Six Talents Peak Project of Jiangsu Province (STPPJP).

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Authors and Affiliations

  1. School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, 210094, China

    Gang Chen & Xinyao Xu

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  1. Gang Chen
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  2. Xinyao Xu
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Chen developed and tested the robot driver, analyzed the data, and wrote this manuscript. Xu established the characteristic model, conducted the dynamic analysis, and wrote this manuscript. Both authors read and approved the final manuscript.

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Correspondence to Gang Chen.

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Chen, G., Xu, X. A nonlinear dynamic characteristic modeling method of shift manipulator for robot driver with multiple clearance joints. Nonlinear Dyn 110, 219–236 (2022). https://doi.org/10.1007/s11071-022-07652-8

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