Nonlinear Modeling of Linkage Mechanism with Clearances and Precise Control
In the practice of mechanical systems, all kinds of motion pair have the clearance exercise. With high-speed, precision machinery and instruments are proposed higher and higher demands for precision , The nonlinear effect of mechanism clearance can not be neglected. As the mechanism with clearance is a strong non-linear systems, System modeling is very complicated, it is difficult to establish a more accurate model , using Linkage mechanism with clearance example to set up a mathematical model, proposed a new method of establishing such models, and construct an inverse model for the Linkage mechanism, and Open-loop with inverse model feed-forward compensator control was firstly performed to compensate Linkage. The results of test show that：This new modeling method greatly reduced the difficulty of solving problems and has higher precision; this inverse model feed-forward compensator has effectively reduced the non-linear error of the system and has improved the control precision of Linkage mechanism.
W. M. Zhou et al., "Nonlinear Modeling of Linkage Mechanism with Clearances and Precise Control", Advanced Materials Research, Vols. 308-310, pp. 1918-1922, 2011