Analysis of four-bar planar mechanisms with joint clearances

Narendra Akhadkar 1 Vincent Acary 1 Bernard Brogliato 1 Michel Abadie 2
1 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, INPG - Institut National Polytechnique de Grenoble
Abstract : This work deals with four-bar planar mechanisms with clearances at the joints, which induce unilateral constraints, impacts and friction, rendering the dynamics nonsmooth. The objective is to determine sets of parameters (clearance value, restitution coefficients, friction coefficients) such that the system's trajectories stay in a neighborhood of the trajectories of mechanism with no clearance. The analysis is based on numerical simulations obtained with the projected Moreau-Jean time-stepping scheme.
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Narendra Akhadkar, Vincent Acary, Bernard Brogliato, Michel Abadie. Analysis of four-bar planar mechanisms with joint clearances. ENOC 2014 - European Nonlinear Oscillations Conference, Jul 2014, Vienna, Austria. ⟨hal-01073482⟩

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