Handbook on Stiffness and Damping in Mechanical Design

Design of Variable Damping and Stiffness Matrices

amping and stiffness control in a telerobotic system allows the programmer to define the master and slave dynamics to suit a given task. Unfortunately, many requirements for good teleoperation produce conflicting choices of desired dynamic parameters for different tasks. It is proposed here that the master and slave damping and stiffness matrices be functionally dependent on b e n d and command...

THE MODEL UPDATING OF MASS, DAMPING AND STIFFNESS MATRICES

Mechanical Influences on the Design of Actuators with Variable Stiffness

In the 1990s compliant joint actuation was introduced to robotics with the Series Elastic Actuator [1] and the Mechanical Impedance Adjuster [2]. Such concepts provide safer human-robot interaction, can store energy and decrease force control effort [1]. In the following decades, energy efficient actuation with such concepts had high impact in mobile applications such as bipedal robots, since t...

The Effect of Damping and Stiffness of Bearing on the Natural Frequencies of Rotor-bearing System

In this paper, the effectiveness of stiffness and damping of bearing is investigated on the natural frequencies of the rotor-bearing system. The rotor-bearing system consists of a shaft, two bearings and a disk between two bearings. Parallel spring-damper in horizental and vertical directions is considered for modeling the stiffness and damping of bearings. The gyroscopic effect is also conside...

Averaging in damping by parametric stiffness excitation

Stability investigations of vibration quenching employing the concept of actuators with a variable stiffness are presented. Systems with an arbitrary number of degrees of freedom with linear springand damping-elements are considered, that are subject to self-excitation as well as parametric stiffness excitation. General conditions for full vibration suppression and conditions of instability are...