Page 168 - Robotics Designing the Mechanisms for Automated Machinery
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156 Kinematics and Control of Automatic Machines
The initial conditions for t = 0 are faj = <f) cj, Q dj = co dj and 4/ = o) cj where; = 1,3,5,..., 2n -1,
for n = 1,2, 3,.... Here b c, b d are the lumped coefficients of viscous friction of the cam
and drive, respectively.
Omitting transformations, we obtain the following solutions for the system of Equa-
tions (4.36):
where
and
We obtain the following formula for the durations T:
The stiffness c is assumed to be the stiffness of the key 7 supported as shown in Figure
4.52. Thus
FIGURE 4.52 The key of the mechanism
as an elastic beam and its cross sections.
A model for stiffness calculation.
