Parasitic Phenomena in the Dynamics of Industrial Devices

Parasitic Phenomena in the Dynamics of Industrial Devices

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ISBN 9781439809464
Cat# K10471



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  • Explains the laws governing how friction and lubrication interact with each other
  • Highlights a model that studies the compliance of a few elements of the machine
  • Discusses the problem of backlash where in the several phases of motion in various mechanical elements are completely separated from each other
  • Describes calibration systems that allow the avoidance of the introduction of errors in the system by other parameters
  • Underlines how sometimes the combined effects of the disturbing actions, such as backlash and compliance, could be particularly harmful to the dynamics of the system
  • Explores how dynamic behavior of the motor is considered the effect of its own characteristic
  • Includes extensive references at the end of each chapter


In the real world the dynamic behavior of a real machine presents either unforeseen or limiting phenomena: both are undesired, and can be therefore be classified as parasitic phenomena — unwanted, unforeseen, or limiting behaviors. Parasitic Phenomena in the Dynamics of Industrial Devices describes the potential causes and effects of these behaviors and provides indications that could minimize their influence on the mechanical system in question.

The authors introduce the phenomena and explore them through real cases, avoiding academic introductions, but inserting the entire academic and experimental knowledge that is useful to understand and solve real-world problems. They then examine these parasitic phenomena in the machine dynamics, using two cases that cover the classical cultural division between cam devices and mechanisms. They also present concrete cases with an amount of experimental data higher than the proposed ones and with a modern approach that can be applied to various mechanical devices, acquiring real knowledge superior to one of the mere finite element systems or collections of mechanical devices.

  • Organizes machine dynamics through systems theory to give a comprehensive vision of the design problem
  • Details machine dynamics at an advanced mathematics level and avoids redundancy of fundamental knowledge
  • Introduces real machine cases for solutions to practical problems
  • Covers two broad classes of mechanical devices that are widely used in the construction of instrumental goods
  • Employs a mechatronic approach that can be applied to electro-mechanical, hydro-mechanical, or pneumo-mechanical machines

Highlighting industrial devices in the manufacturing industry, including industrial indexing devices and industrial robots, the book offers case studies, advanced models, design methods, and short examples of applications. It is of critical importance for any manufacturing enterprise that produces significant amounts of objects through a process with one or more automated phases.

Table of Contents

Dynamics of a Machine System
Composition of a Machine (as a Dynamic System)
Operation Point versus Transmission Ratio
Power Theorem in a Machine
Reduction of Torques (and Forces)
The Transitory
Reduction of Inertias (and Masses)
Backward Motion
Periodic Rate
Transmission at Constant τ
Transmission at Nonconstant τ
Constraints Between Motor and Transmission: Clutches
Crank Slider Mechanism: Dynamics and Balancing
Notes on Friction Phenomena in Machines
Tribology Elements and Lubrication of Machines
Critical Speeds

Lubrication and Friction in Machines
Elastohydrodynamic Lubrication
Friction Coefficient Computation
Lubricated Contacts In Mechanisms with Planar Cam

Compliance-Manipulators with Flexible Links
Model for the Bending Vibrations of a Link
Approximation to Continuous Model
Modeling of Flexible Multilink Manipulator
Control of Mono-Link Rotating Flexible Manipulator

Backlash—Cam Mechanisms and Coupling with Backlash
Dynamic Response
Multibody System Impact in the Presence of Hysteretic Dissipation
Multibody System Impact in the Case of Lubricated Joints
Simplified Model for Systems Impacts
Model of a Cam Mechanism
Reduction of Backlash Dynamic Effects
Dynamic Optimization trough Controlled Servo-Motors
Dynamic Optimization Limits

Calibration of Industrial Manipulators
Parameters Characterizing Geometrical Performance
Sources of Geometrical Errors
Restraint of the Consequences Triggered by the Presence of Geometrical Errors
Robot Calibration

Dynamic Modeling of Industrial Robots
Robotic System
Experimental Tests on a Mono Axis Prototype
Model of a SCARA Industrial Robot

Cam Intermittors
Mathematical Models
Model Utilization in the Simulations
Validation of the Parametric Identification
Comparison between the Developed Models
Analysis of Parametric Sensibility
Optimization of the Dynamic Behavior and Other

Application Examples of the Developed Models
Utilization of the Model for the Foreknowledge of the System Dynamic Behavior
Appendix A
Appendix B
Appendix C