The paper presents a new approach to the analysis of the influence of breaks in the kinematic chains on the stability of robotic actuators possessing elastic properties. An appropriate dynamic model of a nonlinear element with clearance and elasticity is developed and an explicit solution is obtained for the harmonic vibro-impact motions of the model. The describing function of the nonlinear element is derived and is applied to the analysis of high frequency limit cycles in the actuators.

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