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Subject Index

accumulator gas, 37 mUlti-component spring, 46 potential energy, 15, 37, 46,63,64,65 pneumatic, 5 two- and three-component, 42

accuracy, 14, 16, 22, 23, 33, 46, 69, 95,117,123,155,156,161 active load relief system, 3 actuator, 1, 15, 20, 33, 36, 39, 55, 57,59-63,66,67,69,71,93,95,96 amplitude of vibration, 10,33 aperiodic element, 21 approximate guidance (transfer) mechanism, 47, 51 approximate load relief, 8 Archimedian spiral, 28 asymmetric unit function, 138 automatic guided vehicles, 53 balancing

1,2,3, 10, 12 approximate, 3 reactions, 3

Belleville washer, 29 BoIza's problem, 126, 137 braking

ferromagnetic fluids, 35 non-impact, 15 powder, 35

carrier medium, 10, 11 centre of masses, 2, 5 characteristic

dynamic, 20, 30,161 elastic, 25, 27, 28, 31, 42, 51,52,109,111,126,132,

142-150 load, 6, 7,27,30,39 relay, 52 static, 21, 23, 39, 41, 44, 47,95, 100, 149 stepped, 22

closed kinematic cycle, 9 coefficient of energy losses, 37 compensation of the dissipation losses, 16 compressed gases, 6 continuously operating cyclic drive, 9, 11, 12 continuously operating cyclic machines, 9 control

actions, 69, 93 adaptive, 23, 56, 70, 72, 148, 153, 156, 161 optimal, 93-99, 101, 104, 105, 107, 109-115, 120, 122, 126-132, 138, 139, 141, 143, 146 quasi-optimal, 99, 131, 141, 143, 145 relay, 135, 145 strong, 110, 112, 113 system, 4, 15, 20, 23, 25, 41, 53, 61, 131, 144, 146, 148, 158 voltages, 4, 15, 140, 144, 152, 160 weak, 89, 99, 111, 113, 114, 120, 122, 126, 128, 131,137, 139, 140

Coulomb friction, 30 counterbalances, 3 crank-and-rocker mechanism, 50

170 Subject Index

criterion functional, 93, 95, 104, 105, 129, 141 cycle time, 3, 91, 100, 101, 109, 143, 144, 145 cyclic

control system, 12 drives, 10,46, 112 resonant module, 115, 120, 121, 139 reversal operation, 12 robots, 12, 19,93

damping, structural, 3 ° degrees of freedom, 1, 12, 13, 15, 20, 37, 38, 54, 70, 72, 82, 84, 93, 131,147,161 degrees of mobility, 20 differential transformers, 21 dissipation coefficient, 31, 32, 160 dissipation losses, 13,56,64,66,88, 91, 109, 116, 120, 137, 141 driven member, 1,64,94,97 drive

driver

1, 3, 5, 6,9, 12, 13, 14, 16, 17, 18, 19, 21, 26, 60, 66, 69, 70, 83, 84, 99, 100, 109, 110, 112, 115, 120, 126, 131, 137, 142, 144, 145 multi-position resonant, 57 resonant, 15, 18, 19, 25-36, 41, 42-44, 53-57, 60, 63, 66, 84, 93-97, 109-120, 126-131,137,142,146 stepped resonant, 17, 18, 120, 132, 140

cumulative angular momentum of, 131, 138 supplementary, 5, 18

driving torque, 1,9, 13,20,45,53 durability, 24, 37 duty cycle, 9 dwell time, 12, 15,85 dynamic

error, 10

interaction, 1, 54, 67, 83, 84, 157 loads, 5,20, 147 model, 19,20,41,127 properties, 1, 86 qualities, 12, 19,20, 93 synthesis, 20, 41, 108 system, 1,95,99

efficiency, 3,4,6, 11, 15, 19,37,70, 84, 93, 99, 101, 131, 142, 143, 145, 146, 161 elastic elements, 9, 10, 11, 12, 15, 30,36,37,38,41,59,60,89, III electromagnetic

processes, 21, 95 time constant, 21, 115, 119, 121

electromotive force, 20 ellipsograph, 48 endurance, 3, 14,29,36,41,59,63 energy

capacity, 37, 101 consumption, 3, 4, 9, 14, 18, 19, 33, 36, 52, 62, 70, 84, 88, 93, 95, 96, 97, 100, 101, 105, 109, 115, 120, 125, 131, 143, 144, 145, 146, 148, 161 dissipation, 14,30 double-crank store, 63 expenditure, 17, 18,39,65, 69,88, 100, 144 losses, 15, 16, 30, 32, 56, 65, 66, 6~ 85, 8~ 97, 109, 110,133 output, 6 replenishment, 56, 59 store, 4, 5, 10, 15, 19, 40, 42, 43, 44, 46, 51, 52, 59, 60, 62, 63, 65, 69, 86, 87, 100, 101, 108, 109, 120, 138, 142, 143, 144, 146

equations of motion, 13, 69, 70, 71, 72, 90, 126, 137 excitation force, 10, 87, 88

feedback amplification coefficient, 131 system, 4, 15, 16,21,144 transducers, 21

first transfer function, 40 flywheel

13, 14, 37, 100 energy storage, 13

forces, 1-5,9, 10, 15, 16,20,32-39, 53,55,69,70,71,72,79,83,86,87, 88,89,92,97, 109, 116, 126, 131, 145,148,158 four-bar linkage mechanism, 47,50 frequency of vibration, 10, 86, 87, 128 frequency spectrum, 20 friction forces, 3, 13, 30, 70, 71, 104, 145

gear-linkage mechanism, 52 generalised

coordinates, 1, 5, 20, 38, 70,71,80,82 forces, 20, 70, 71, 79,80

guidance mechanisms, 46

Hamiltonian, 99, 102, 103, 110, 123, 127,132,138 harmonics, 3, 11 holonomous stationary constraints, 70 housing elements, 1 hydraulic damping, 14 hysterisis loops, 31

inert gas, 6, 8 inertia

forces, 2, 9, 10, 11, 12, 13, 14, 15, 16, 83, 86, 89, 109, 131 of components, 1

insensitive zone, 22 intemal friction, 30 isoperimetric expressions, 117, 123

Jacobean elliptical functions, 130

Subject Index 171

kinematic pairs, 3, 5, 20, 30, 37, 38, 42,44,47,51,69,70 schemes, 6, 84

kinetic energy, 4, 9, 13, 14, 19,20, 58,60,61,63,64,67,70,71,80,81, 86,97, 127, 128, 137, 138, 139, 148, 149, 158 kinetostatic model, 20, 95

Lagrange's equations, 20, 70, 71, 72 problem, 132

Lagrangian coefficients, 98 limit switches, 24 linear vibrating system, 10 load

capacity, 16,29,95 relieving, 1, 3, 9, 46 synthesis, 37, 39, 41

load relief 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 18, 19 force, 6, 7 complete, 7, 8 mechanism, 11, 12 system, 3, 4,5,6,7,9, 10, 11,12,13,18,19 static, 5

locking devices, 25, 32, 43 locking-time loss coefficient, 33 logarithmic decrement, 31 lower kinematic pair, 38

magnetic flux, 20 machine

rigid,20 three-position cyclic, 42

MARS resonance robot, 131 maximum principle, 96, 98, 102, 104, 110, 122, 123, 132 maximum velocity, 64 maximum velocity, 96, 104 mechanical energy accumulators, 4, 53 mechanical tuning, 54

172 Subject Index

mechanism cam, 6, 38 conchoidal, 49 pantograph, 6 plane, 2,38 planetary gear, 51 slider-crank, 48, 50 sinusoidal,47 transmission, 37, 46

minimisation of heat losses, 10 1, 110 moment balance, 2 motion cycle, 3, 33, 59, 109 motor

1, 13, 14, 16, 20, 21, 52, 73, 89, 91-96, 100, 101, 109, 114, 115, 120, 121, 124, 126, 128, 129, 130-150 dc torque, 20

natural frequency, 3, 10, 90, 91, 98, 120, 128, 129, 143 neutral position of the elastic system, 54 noise, 194, 195 non-isochronous, 11 non-linear vibrating systems, 11 non-uniform motion, 9

operating efficiency, 32 power, 16 program, 5 speed, 3, 9, 10, 15, 17,36, 69, 83, 88, 89, 93, 95, 96, 98, 100, 101, 105, 109, 115-120, 125-131, 137, 139,142-146

optimisation criteria, 41 problem, 37, 52, 93, 120, 126

overall energy consumption, 10 1, 109 over-compensation, 6

partial frequency, 10 motions, 1

passive load relief system, 15 phase coordinates, 4, 5, 15, 95, 130, 149 pick-and-place motion, 12 planetary gears, 59 pneumatic system, 5, 7 pneumatic-hydraulic system, 8 Pontryagin's maximum principle, 98 position function, 20, 39, 40, 41, 46, 76, 77 position of unstable equilibrium, 9, 18,39,45,61 positional control systems, 9 positioning

accuracy, 32, 33,36, 72 points, 15,32,57,59, 115 variable, 60

potential energy, 5, 10, 15-19, 25-32,36-42,46,58,60,61-67, 70, 71, 81,86,90,97,101 potentiometers, 22 power consumption, 5, 88 principal vector of inertial forces, 2 programmed

motion, 1,4,5,69 velocity, 19

pulses of energy, 9

quality parameters, 95

reducing vibration activity, 9 reduction system, 1 regulating component, 4,5, 15 relative power capacity (W /kg), 37 reliability, 3, 32, 37, 41, 46,54, 59, 63,72,84,161 relief efficiency, 10 resistance

1, 10, 14, 20, 22, 24, 25, 30,34,36,92,96, 108, 114 coefficient, 10

resonance 10,11,12, 16, 17, 109-123, 126-132,137,140,142-146

resonant

robot

mechanical vibration, 15 motion, 15,39, 116, 122 tuning, 11, 17

industrial, 1, 3,4,9, 15 resonant, 15, 16, 19,20-25, 32, 33, 36, 53, 54, 59, 63, 66-72, 82, 84, 89,-97, 99, 131,137,142,147-161 systems, 1, 24, 53, 70, 89

93,98, 115, 122, 123 resultant vector of forces, 1 rigid transmission, 20, 100 Roberts/Chebishev transformation, 53 robotic

robot

systems, 1,3, 15,21,25,53 vehicles, 19

universal industrial, 9 welding, 7

scalar functions of mechanism position, 19 sensitivity, 21-23, 152, 159, 160 sensors, 18,21,22,23,24,25,61 single-motion transmission mechanism, 38 singular control, 104 speed variators, 101 springs, 6, 7, 10, 26, 27, 29, 39, 41, 51,55,57,66,67, 71, 81, 94, 148 stability margin, 65, 91, 92, 129, 130,131,138,140,141,143,146 static balancing components, 5 static equilibrium position, 55, 90 statically balanced mechanism, 2 step-by-step motion, 131 stepped motion, 17 stiffness, 6, 10,25-28,39-45, 54, 55, 67, 73, 81,94, 111, 121, 129, 150 substitute masses, 2 supplementary

counterweights, 5 load relief driver, 4

Subject Index 173

synthesis 1, 37, 39, 41, 42, 52, 53, 93, 97, 99, 112, 158 structural, 37, 46

tachogenerator, 19, 21, 22, 24, 60, 64,115,131,141 time constant, 21, 22, 115, 119, 121, 127, 129, 130 time of motion, 101, 117, 134, 135, 136, 143 torque

principal, 1 reactive, 100

trajectory, 48, 50, 53, 69, 80, 93, 96, 103, 110-116, 125, 127, 130, 135-138, 141, 148, 156 transfer

coefficient, 21 function, 11,21,39,46 mechanism, 1, 18 ratio, 47

transformer coefficient, 23 transformers

rotary, 22, 23 sine-cosine rotary (SCRT), 22

transient motion, 3, 9, 150 translation module, 150, 156 transmission, 1,3,4,5,9-15, 18, 19, 20-23, 36-47, 52, 53, 59, 60, 62-64, 91, 94, 97, 100, 109, 114, 115, 120, 121, 125, 149

unbalanced forces, 3 unstable equilibrium position, 17, 18,120,129,131,132

vector-function of variable states, 93 vibrating system, 10, 11, 16,36 vibration

1, 3, 9, 10, 11, 19,24, 31, 33, 47, 87, 88, 89, 97, 98, 99, 102, 125, 126, 128, 139 absorber, 9 activity, 9, 19 damping, 10

174 Subject Index

energy dissipation, 10 theory, 10,99

visco-elastic model, 32 working angle, 7, 52 workspace, 36, 69

Foundations of Engineering Mechanics Series Editors:

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Analytical Mechanics (2002, ISBN 3-540-42982-4)

Models and Phenomena in Fracture Mechanics (2002, ISBN 3-540-43767-3)

Dynamics of Synchronising Systems (2003, ISBN 3-540-44195-6)

Statistical Dynamics and Reliability Theory for Mechanical Structures (2003, ISBN 3-540-44297-9)

Mathematical Models in Natural Science and Engineering (2003, ISBN 3-540-43680-4)

Resonant Robotik Systems (2003, ISBN 3-540-00334-7)