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Modelling and application of the self‐locking phenomenon in the context of a non‐discrete impact clutch
Author(s) -
WelgeLuessen Tobias,
Glocker Christoph
Publication year - 2005
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.200510088
Subject(s) - clutch , context (archaeology) , underactuation , phenomenon , control theory (sociology) , computer science , mechanism (biology) , robot , control (management) , simulation , control engineering , engineering , mechanical engineering , physics , artificial intelligence , geology , paleontology , quantum mechanics
This paper describes an application of the self locking phenomenon in order to realize a non‐discrete impact clutch. It is used to generate velocity jumps in an underactuated robot manipulator. Due to control reasons the impacts have to be made possible at arbitrary times, which calls for a non‐discrete device. Different design alternatives are listed and a numerical simulation as well as a possible mechanical design of the self‐locking mechanism are presented. (© 2005 WILEY‐VCH Verlag GmbH & Co. KGaA, Weinheim)