Page 110 - Robot Builders Source Book - Gordon McComb

3.6 Brakes 99

or

The second simplified case we consider here is that which occurs when Equation (3.133)
can be reduced to the form

(assuming that the spring is extracted from the mechanism and s 0 = 0). We carry out
linearization by substituting

(Here: V= speed of the driven mass.) Thus, from Equation (3.140) we obtain

and for T~ constant

or

Finally, we rewrite Equation (3.142) in the form

or

which gives

3.6 Brakes

In this section we consider a special type of drive, one which must reduce the speed
of a moving element until complete cessation of movement of the element is achieved,
i.e., a brake system. Such a mechanism must be able to facilitate speed reduction in
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