Results 261 to 270 of about 39,069 (308)
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Modelling and control of robotic joints based on sliding pairs
2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2013In this paper, the investigation on the friction phenomena acting at joint level in the robotic hand developed within the DEXMART project is reported. This side effect is given by the adoption of joints based on sliding pairs to reduce the complexity of the mechanism and to ease the assembly procedure. The joint friction has been modelled by means of a
PALLI, GIANLUCA, MELCHIORRI, CLAUDIO
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Assembly Configurations of Single-Loop Mechanisms With Pin Joints and Sliding Joints
Volume 2A: 24th Biennial Mechanisms Conference, 1996Abstract This paper examines the problem of enumerating the assembly configurations (ACs), also called circuits, of planar mechanisms which can be described as a single loop. An algorithm is given which allows the user to find and distinguish the ACs of such a mechanism, by determining if each pair of adjacent links can line up.
D. E. Foster, R. J. Cipra
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Lubricating behavior of tripod sliding universal joints
Industrial Lubrication and Tribology, 2010PurposeThe purpose of this paper is to understand the lubricating properties of the tripod sliding universal joint (TSUJ) in order to overcome its premature failures caused by the poor lubricating regime.Design/methodology/approachA simplified geometrical model is derived from the main mating surfaces redesigned, and then the effects of the applied ...
X.F. Wang, D.G. Chang
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Review of the Research on Fixed and Sliding Joints
1973The paper summarises the results of research into the stiffness, damping, friction and wear characteristics of fixed and sliding joints. An attempt has been made to extract from the results of research conducted over the past decade or so, that information which is considered to be of direct interest to the machine tool designer.
N. Back, M. Burdekin, A. Cowley
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Sliding Mode Control of Compliant Joints Robot
IFAC Proceedings Volumes, 2003Abstract The lack of knowledge of robot dynamics and joint elasticity for precise tracking control can be overcome by using either robust or adaptive (learning) control. The standard form of adaptive control does not appear to be applicable since the basic assumptions on the system dynamics and non-linear characteristics are rarely satisfied.
A.B. Sharkawy +3 more
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Sliding Joints from Traditional Asphalt Belts
Advanced Materials Research, 2014Problems with horizontal deformation in the subsoil are often solved for building on undermined areas not only in our region. There are many ways to solve this problem. The existing building can be draw together in total or stiffened belt can be carried out around the structure foundation.
Martina Smirakova +2 more
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Kinematics Simulation on the Centre of Sliding Universal Joints
Applied Mechanics and Materials, 2012This paper based on the improved twin tripod sliding universal joint and let it has the determined movement output. And create the three-dimensional model of twin tripod sliding universal joint before and after improved in software pro/e, and then put it into the simulation module, carry out the kinematic simulation of the tripod center on coupling ...
De Gong Chang, C.C. Wang, B. Zuo
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Dynamics of Multibody Systems with Friction-Affected Sliding Joints
2010In this paper, a new method for the modeling of planar multibody dynamics with friction-affected sliding joints is presented. Each friction-affected sliding joint is split into two unilateral constraints opposite to each other, and the constraint equality is replaced by unilateral inequalities that are expressed in complementary form.
Li Fu +5 more
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TRANSVERSE VIBRATIONS OF A FLEXIBLE BEAM SLIDING THROUGH A PRISMATIC JOINT
Journal of Sound and Vibration, 1999Abstract In this paper, the vibrations of an axially moving flexible beam sliding through an arbitrarily driven prismatic joint, restricted to move on a horizontal plane, are investigated. Upon considering the assumption of an Euler–Bernoulli beam in addition to the effects of rotary inertia, end-mass and axial force in association with axial ...
Yuksel, S, Gurgoze, M
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Sliding observer-based feedback control for flexible joints manipulator
Automatica, 1996The authors use the singular perturbation methods to design a nonlinear observer-based feedback control law for tracking desired time-varying joint-space trajectories for flexible manipulators.
Jacques Hernandez, Jean-Pierre Barbot
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