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  • 1
    Electronic Resource
    Electronic Resource
    Static analysis of a two-member linkage interacting with a given surface (1999)
    Springer
    Archive of applied mechanics 69 (1999), S. 429-442 
    Details
    ISSN: 1432-0681
    Keywords: Key words statics ; two-member linkage ; Coulomb friction ; robotics
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Summary The static interaction of a two-member linkage with a given surface is investigated. Dry friction acts at the point of contact of the linkage with the surface. The linkage has two drives generating torques at its joints. The optimal distribution of the joint torques is determined to maximize the friction force at the point of contact. The dependence of this maximal force on the lengths of the links and on the linkage configuration is investigated. The results obtained can be applied to the analysis and optimization of various robotic systems, in particular, manipulators interacting with rough surfaces and walking machines, especially tube-crawling robots.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/s004190050232
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    Paper (German National Licenses)
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  • 2
    Electronic Resource
    Electronic Resource
    Theoretical and experimental investigations of gear-rattling (1991)
    Springer
    Nonlinear dynamics 2 (1991), S. 367-387 
    Details
    ISSN: 1573-269X
    Keywords: Impulsive processes ; patching method ; discrete mappings ; rattling applications
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mathematics
    Notes: Abstract Rattling vibrations in gear boxes are a noise problem of modern cars following the requirement to be as quiet as possible. The paper presents an uniform approach to model such vibrations based on classical impact theory and applying modern methods of topological dynamics. Some comparisons of theory and measurements utilizing a test set-up of a rattling machine are presented. They demonstrate the practical relevancy of the presented theory.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF00045670
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  • 3
    Electronic Resource
    Electronic Resource
    Rattling models from deterministic to stochastic processes (1990)
    Springer
    Nonlinear dynamics 1 (1990), S. 63-74 
    Details
    ISSN: 1573-269X
    Keywords: backlash ; impacts ; discrete mappings ; Fokker-Planck equation
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mathematics
    Notes: Abstract Rattling in gears is a consequence of backlashes. It can be generated in those gear-wheels of a car transmission system, which are not under load. Models of rattling are established in three stages. from a straightforward patching method we proceed to a discrete mapping description and to a stochastic model applying the well-known Fokker-Planck equation. All three model stages are consistent and, moreover, they represent a good picture of the real world, which has been proven by tests.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF01857585
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