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Impact-Based Modeling of Backlash in Gear Driven Systems

[+] Author Affiliations
Hari Vasudevan, John Morrell

Yale University, New Haven, CT

Paper No. DSCC2011-6087, pp. 525-532; 8 pages
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 1
  • Arlington, Virginia, USA, October 31–November 2, 2011
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5475-4
  • Copyright © 2011 by ASME


Backlash in gears creates nonlinear dynamics in mechanical systems and has been analyzed using a variety of methods and models. In this paper, we present a nonlinear, piecewise model for backlash dynamics that incorporates a coefficient of restitution to account for impact behavior during limit cycling. We analyze the energy absorbed by the collisions and derive a constraint for feedback controllers. We conclude with simulation results using this modeling approach.

Copyright © 2011 by ASME
Topics: Gears , Modeling



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