1st Edition

Parasitic Phenomena in the Dynamics of Industrial Devices

By Alberto Borboni, Rodolfo Faglia Copyright 2012
    398 Pages 33 B/W Illustrations
    by CRC Press

    398 Pages 33 B/W Illustrations
    by CRC Press

    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.

    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


    Alberto Borboni, Rodolfo Faglia