リンク機構の入力トルク特性の実験的同定

概要

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It is difficult to calculate input torque of a complicated link mechanism theoretically. It is also difficult to calculate the input torque of a link mechanism with friction. In this study, we propose a method which can be used to identify the input torque property of link mechanism, such as the equivalent moment of inertia, experimentally. For this purpose, the input torque property of a system is expressed in the form of Fourier series with respect to the crank angle. The measured torque is also expanded in Fourier series. By comparing the coefficients of the series, we can determine the input torque property. Friction torque is separated by comparing the input torque during clockwise or counterclockwise rotation. As an example, we apply the proposed method to a simple sliderclank mechanism, and the validity of the proposed method is confirmed.
一般社団法人日本機械学会の論文
1997-08-25