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TECHNICAL PAPERS

Backlash Compensation in Gear Trains by Means of Open-Loop Modification of the Input Trajectory

[+] Author and Article Information
Martin Warnecke

Institut f. Fertigungsautomatisierung und Handhabungstechnik, Technische Universitat Braunschweig, Germany

Musa Jouaneh

Department of Mechanical Engineering, University of Rhode Island, Kingston, RI 02881

J. Mech. Des 125(3), 620-624 (Sep 04, 2003) (5 pages) doi:10.1115/1.1596241 History: Received May 01, 2002; Revised February 01, 2003; Online September 04, 2003
Copyright © 2003 by ASME
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References

Sato,  K., Murayama,  Y., Imada,  S., and Shimokohbe,  A., 1995, “Control and Elimination of Lead Screw Backlash for Ultra-Precision Positioning,” JSME Int. J., Ser. C , 38, pp. 36–41.
Michaelic, G. W., 1996, Precision Gearing: Theory and Practice, John Wiley & Sons, New York.
Tsai,  L.-W., and Chang,  S. L., 1994, “Backlash Control via Redundant Drives,” ASME J. Mech. Des., 116, pp. 963–967.
Savant, Jr., C. J., 1958, Basic Feedback Control System Design, McGraw-Hill Book Company, New York.
Huang,  S.-J., and Yan,  M.-T., 1996, “The Adaptive Control for a Retrofit Traditional Milling Machine,” IEEE Trans. Ind. Appl. , 32, pp. 802–809.
Tao,  G., and Kokotovic,  P. V., 1995, “Adaptive Control of Systems With Unknown Output Backlash,” IEEE Trans. Autom. Control, 40, pp. 326–330.
Cetinkunt S., and Donmez, A., 1993, “CMAC Learning Controller for Servo Control of High Precision Machine Tools,” Proceedings of the American Control Conference, San Francisco, CA June, pp. 1976–1980.
Ge,  P., and Jouaneh,  M., 1998, “Modeling of the Backlash Hysteresis Nonlinearity,” ASME J. Mech. Des., 120, September, pp. 408–413.

Figures

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Backlash hysteresis loop
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Desired motion profile and backlash hysteresis response
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Tracking control to compensate the backlash nonlinearity on the output
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Backlash compensation in velocity profile
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Practical velocity range and speed ramp approach for a DC-motor driven gear system
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Auxiliary systems of co-ordinates for compensation straight lines
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Modified velocity and displacement
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Enlarged view of the backlash zone
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Arrangement of experimental gear train, DC-motor and measuring devices
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Comparison of calculated and measured time improvements for fixed amounts of backlash
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Calculated and measured gear train performance for the input shaft in the backlash area

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