非線形摩擦のある減速機を有するフレキシブルアームの動特性

抄録

In this paper, we investigate the system dynamics of a one-link flexible arm affected by reduction gear friction. The natural frequency of the flexible arm lessens when the friction is larger and approaches that of a cantilever beam. The system damping changes with its natural frequency. Experiments were done in cases of both small and large frictions. The friction torque was nonlinear with viscous and Coulomb damping. Nonlinear and linearized calculations were shown to be in good agreement with experimental results.