Positioning Control of a Gear Train System Including Flexible Shafts : 2nd Report, Two Flexible Shafts

Abstract

The equations of motion of a gear train system which is composed of flexible shafts, a pair of gears and an arm are derived in consideration of the torsion of the shafts, gear teeth stiffnesses, backlashes, and characteristics of a driving source. And, applying the minimum-time control method to the system in consideration of a natural period and amplitudes of torsional vibrations of flexible shafts, the dynamic characteristics of the system are analyzed theoretically and investigated experimentally.