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Summary
Summary
In the real world the dynamic behavior of a real machine presents either unforeseen or limiting phenomena: both are undesired, and can be therefore be classified as parasitic phenomena -- unwanted, unforeseen, or limiting behaviors. Parasitic Phenomena in the Dynamics of Industrial Devices describes the potential causes and effects of these behaviors and provides indications that could minimize their influence on the mechanical system in question.
The authors introduce the phenomena and explore them through real cases, avoiding academic introductions, but inserting the entire academic and experimental knowledge that is useful to understand and solve real-world problems. They then examine these parasitic phenomena in the machine dynamics, using two cases that cover the classical cultural division between cam devices and mechanisms. They also present concrete cases with an amount of experimental data higher than the proposed ones and with a modern approach that can be applied to various mechanical devices, acquiring real knowledge superior to one of the mere finite element systems or collections of mechanical devices.
Organizes machine dynamics through systems theory to give a comprehensive vision of the design problem Details machine dynamics at an advanced mathematics level and avoids redundancy of fundamental knowledge Introduces real machine cases for solutions to practical problems Covers two broad classes of mechanical devices that are widely used in the construction of instrumental goods Employs a mechatronic approach that can be applied to electro-mechanical, hydro-mechanical, or pneumo-mechanical machinesHighlighting industrial devices in the manufacturing industry, including industrial indexing devices and industrial robots, the book offers case studies, advanced models, design methods, and short examples of applications. It is of critical importance for any manufacturing enterprise that produces significant amounts of objects through a process with one or more automated phases.
Table of Contents
Preface | p. xiii |
Acknowledgments | p. xv |
The Authors | p. xvii |
Chapter 1 Dynamics of a Machine System | p. 1 |
1.1 Composition of a Machine (as a Dynamic System) | p. 1 |
1.2 Operation Point versus Transmission Ratio | p. 2 |
1.3 Power Theorem in a Machine | p. 6 |
1.4 Reduction of Torques (and Forces) | p. 7 |
1.5 The Transitory | p. 10 |
1.6 Reduction of Inertias (and Masses) | p. 10 |
1.7 Backward Motion | p. 12 |
1.8 Periodic Rate | p. 13 |
1 9 Transmission at Constant ¿ | p. 14 |
1.9.1 Selection of a Transmission with Constant ¿ | p. 14 |
1.10 Transmission at Nonconstant ¿ | p. 15 |
1.10.1 Planar Linkages | p. 17 |
1.10.2 Analytical Methods for Planar Linkages | p. 26 |
1.10.3 Cam Systems | p. 29 |
1.11 Constraints between Motor and Transmission: Clutches | p. 37 |
1.12 Crank Slider Mechanism: Dynamics and Balancing | p. 46 |
1.12.1 Mass Distribution in the Crank Slider Mechanism | p. 46 |
1.12.2 Dynamics of the Crank-Slider Mechanism | p. 47 |
1.12.3 Vibration and Balancing of Engine Unit | p. 54 |
1.12.4 Discussion of Ratio X Characteristics | p. 58 |
1.13 Notes on Friction Phenomena in Machines | p. 58 |
1.14 Tribology Elements and Lubrication of Machines | p. 62 |
1.14.1 General | p. 63 |
1.14.2 A Thorough Analysis of Lubrication Typologies | p. 63 |
1.14.3 Lubrication Systems | p. 76 |
1.14.4 Particular Applications | p. 76 |
1.15 Critical Speeds | p. 79 |
1.15.1 Bending Critical Speeds (Bending Vibrations) | p. 79 |
1.15.2 Torsional Critical Speeds (Torsional Vibrations) | p. 83 |
Chapter 2 Lubrication and Friction in Machines | p. 87 |
2.1 Elastohydrodynamic Lubrication | p. 87 |
2.2 Friction Coefficient Computation | p. 89 |
2.3 Lubricated Contacts in Mechanisms with Planar Cam | p. 99 |
2.3.1 Kinematics, Geometry, and Dynamics Inferences on Friction | p. 101 |
2.3.2 Transient and Localization | p. 110 |
2.3.3 Properties of Fluid and Surface | p. 112 |
Chapter 3 Compliance-Manipulators with Flexible Links | p. 121 |
3.1 Model for the Bending Vibrations of a Link | p. 121 |
3.2 Approximation to Continuous Model | p. 124 |
3.2.1 tating Flexible Link | p. 24 |
3.2.2 Translating Flexible Link | p. 126 |
3.3 Modeling of Flexible Multilink Manipulator | p. 129 |
3.3.1 Kinematics of Flexible Link | p. 129 |
3.3.2 Discretization Methods | p. 132 |
3.3.2.1 Assumed-Modes Method | p. 132 |
3.3.2.2 Finite Element Model | p. 137 |
3.3.3 Dynamic Equations of Motion | p. 141 |
3.4 Control of Mono-Link Rotating Flexible Manipulator | p. 144 |
3.4.1 Transfer Function of Single Flexible Link | p. 144 |
3.4.2 Determination of Motion through Dynamic Inversion | p. 146 |
3.4.3 Experimental Verification of Results | p. 147 |
Chapter 4 BacklashùCam Mechanisms and Coupling with Backlash | p. 151 |
4.1 Dynamic Response | p. 151 |
4.2 Multibody System Impact in the Presence of Hysteretic Dissipation | p. 153 |
4.3 Multibody System Impact in the Case of Lubricated Joints | p. 159 |
4.4 Simplified Model for Systems Impacts | p. 163 |
4.5 Model of a Cam Mechanism | p. 164 |
4.6 Reduction of Backlash Dynamic Effects | p. 166 |
4.7 Dynamic Optimization through Controlled Servomotors | p. 173 |
4.8 Dynamic Optimization Limits | p. 175 |
Chapter 5 Calibration of Industrial Manipulators | p. 177 |
5.1 Parameters Characterizing Geometrical Performance | p. 177 |
5.1.1 Introduction | p. 177 |
5.1.2 Resolution, Repeatability, and Accuracy | p. 178 |
5.1.3 Performance Characteristics Evaluation | p. 180 |
5.1.4 Testing Conditions | p. 181 |
5.1.5 Pose Accuracy and Repeatability | p. 182 |
5.1.6 Multidirectional Pose Accuracy Variation | p. 184 |
5.1.7 Distance Accuracy and Repeatability | p. 184 |
5.1.8 Path Accuracy and Path Repeatability | p. 185 |
5.1.9 Path Velocity Performance Criteria | p. 185 |
5.1.10 Considerations | p. 186 |
5.2 Sources of Geometrical Errors | p. 187 |
5.2.1 Introduction | p. 187 |
5.2.2 Nongeometric Errors | p. 187 |
5.2.3 Geometric Errors | p. 188 |
5.2.4 Significance of Errors | p. 192 |
5.3 Restraint of the Consequences Triggered by the Presence of Geometrical Errors | p. 192 |
5.3.1 Introduction | p. 192 |
5.3.2 Robot Design | p. 193 |
5.3.3 Robot Calibration | p. 194 |
5.4 Robot Calibration | p. 195 |
5.4.1 Classification | p. 195 |
5.4.2 Calibration Process | p. 196 |
5.4.2.1 Modeling | p. 197 |
5.4.2.2 Measurement | p. 202 |
5.4.2.3 Identification | p. 209 |
5.4.2.4 Implementation | p. 212 |
5.4.3 Case of Study | p. 213 |
Chapter 6 Dynamic Modeling of Industrial Robots | p. 219 |
6.1 Robotic System | p. 219 |
6.2 Experimental Tests on a Mono-Axis Prototype | p. 220 |
6.2.1 Description of the Mono-Axis System | p. 220 |
6.2.2 Requirements Satisfied by the System | p. 223 |
6.2.3 Possible Applications of the Mono-Axis System | p. 223 |
6.2.4 Experimental Evaluation of Some Mechanical Parameters of the Mono-Axis System | p. 225 |
6.2.4.1 Experimental Evaluation of the Stiffness in the Spring for Connecting the Two Bogies | p. 225 |
6.2.4.2 Experimental Evaluation of Viscous Damping and Sliding Friction | p. 226 |
6.2.5 The Backlash Effect on an Elastic Mechanical Transmission | p. 231 |
6.2.6 Analysis of the Dynamic Behavior of the Single-Axis System | p. 237 |
6.2.7 Bibliographic Notes | p. 240 |
6.3 Model of a SCARA Industrial Robot | p. 242 |
6.3.1 Introduction | p. 242 |
6.3.2 The SCARA Robot ICOMATIC 03 | p. 243 |
6.3.3 The Mathematical Model of the Robot Scara Icomatic 03 | p. 243 |
6.3.4 Estimation of the Model Parameters | p. 247 |
6.3.4.1 Measurements of Mass and Length | p. 248 |
6.3.4.2 Dynamic Tests for Estimating the Joints' Pliability | p. 48 |
6.3.4.3 Static Tests for Estimating the Joints' Pliability | p. 251 |
6.3.4.4 Summary and Comment of the Model Parameters Estimate | p. 252 |
6.3.5 Disturbance Induced by the Robot Controller | p. 255 |
6.3.6 Analysis of Real and Simulated Data | p. 258 |
6.3.7 Advantages and Defects of the Model | p. 264 |
6.3.8 Comparison of Reality Model: Conclusions | p. 265 |
6.3.9 Bibliographic Notes | p. 266 |
Chapter 7 Intermittors | p. 267 |
7.1 Cam Intermittors | p. 267 |
7.2 Mathematical Models | p. 268 |
7.2.1 Rigid Model | p. 270 |
7.2.2 Rigid Model with Assigned Velocity of the Motor | p. 273 |
7.2.3 Rigid Model with Characteristic Curve of the Motor | p. 273 |
7.2.4 Elastic Model with; One Degree of Freedom | p. 273 |
7.2.4.1 Motor Transmission Intermittor and Joint-Table | p. 273 |
7.2.5 Elastic Model with One Degree of Freedom with Constant Motor Velocity | p. 276 |
7.2.6 Elastic Model with One Degree of Freedom with Characteristic Curve of the Motor | p. 276 |
7.2.7 Elastic Model with Two Degrees of Freedom | p. 277 |
7.2.7.1 Subsystem Motor-Reducer | p. 277 |
7.2.7.2 Subsystem-Compliant Elastoviscous Joint on the Drive Shaft | p. 278 |
7.2.7.3 Subsystem Intermittor | p. 278 |
7.2.7.4 Subsystem Downstream of the Intermittor | p. 279 |
7.2.8 Elastic Model with Two Degrees of Freedom and Constant Motor Velocity | p. 281 |
7.2.9 Elastic Model with Two Degrees of Freedom and Characteristic Curve of the Motor | p. 282 |
7.3 Model Utilization in the Simulations | p. 282 |
7.3.1 Integration of the Differential Equations of the Models | p. 283 |
7.3.2 Models Validation and Analysis of Parametric Sensibility | p. 283 |
7.3.3 Automatic Estimation of the Compliance Parameters at the Joints | p. 284 |
7.3.4 The Implemented Genetic Algorithm | p. 285 |
7.3.4.1 Selection Operator | p. 285 |
7.3.4.2 Crossover Operator | p. 286 |
7.3.4.3 Mutation Operator | p. 286 |
7.4 Validation of the Parametric Identification | p. 286 |
7.4.1 Comparison between Simulated and Experimental Data after Parametric Identification | p. 286 |
7.4.2 Approximate Estimation of the Compliance Parameters of the Joint Downstream of the Intermittor | p. 288 |
7.5 Comparison between the Developed Models | p. 289 |
7.6 Analysis of Parametric Sensibility | p. 294 |
7.7 Optimization of the Dynamic Behavior and Other Application Examples of the Developed Models | p. 297 |
7.7.1 Optimization of the CamProfile | p. 297 |
7.7.2 Optimization of the Cam Profile with Minimization of Negative Peak as Objective Function | p. 297 |
7.7.3 Optimization of the Cam Profile with Minimization of the Overshooting as Objective Function | p. 298 |
7.7.4 Optimization of the Cam Profile with Minimization of the Average Torque Provided by the Motor as Objective Function | p. 299 |
7.8 Utilization of the Model for the Foreknowledge of the System Dynamic Behavior | p. 300 |
7.8.1 Approximate Estimation of Overshooting | p. 301 |
7.8.1.1 Calculation of the Elasticity and Dampening of the Joint Downstream of the Intermittor | p. 301 |
7.8.1.2 Estimated Backlash in the Reducer | p. 301 |
7.8.1.3 Estimated Overshooting for J c Equal to 190000 kgmm 2 | p. 302 |
7.8.1.4 Approximate Estimation of Overshooting by Means of the Model with Two Degrees of Freedom | p. 303 |
7.8.1.5 Simulation and Calculation of the Overshooting for J c Equal to 190000 kgmm 2 | p. 305 |
References | p. 307 |
lAppendix A p. 323 | |
Appendix B p. 337 | |
Appendix C p. 355 | |
Index | p. 371 |