Nonlinear Dynamic Characteristics Analysis of Shift Manipulator for Robot Driver with Multiple Joint Clearance

Abstract

The clearance joint is very important to the nonlinear dynamic characteristics of mechanism. This paper presents a nonlinear dynamic characteristic model of shift manipulator for robot driver based on multiple revolute clearance joints to improve dynamic characteristics. The relative penetration depth and velocity between pin and bushing are obtained by establishing the kinematic model of the shift manipulator with clearance joint. Based on 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 full 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 verified through the presented characteristic model with clearance joints.