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Automated Modeling of Nonlinear Mechanisms for Virtual Prototyping

[+] Author Affiliations
Mark B. Colton, John M. Hollerbach

University of Utah, Salt Lake City, UT

Paper No. DETC2004-57520, pp. 1349-1355; 7 pages
  • ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B
  • Salt Lake City, Utah, USA, September 28–October 2, 2004
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4695-4 | eISBN: 0-7918-3742-4
  • Copyright © 2004 by ASME


This paper addresses the problem of obtaining models of nonlinear mechanisms for use in virtual prototyping systems. The objective of the described modeling procedure is to more accurately represent the feel of complex mechanisms in force feedback applications. The model structure selected for this study is a 2nd -order impedance model, with mass, damping, stiffness, and coulomb friction that vary with position. An automated testbed system is described, as well as a segmented least-squares algorithm for estimating position-varying model parameters. Baseline results are obtained for a system comprised of a mass, dashpot, and nonlinear (hardening) spring.

Copyright © 2004 by ASME
Topics: Modeling , Mechanisms



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