Nonlinear Dynamic Characteristics Analysis of Shift Manipulator for Robot Driver with Multiple Joint Clearance

Nonlinear Dynamic Characteristics Analysis of Shift Manipulator for Robot Driver with Multiple Joint Clearance | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Nonlinear Dynamic Characteristics Analysis of Shift Manipulator for Robot Driver with Multiple Joint Clearance Gang Chen, Xinyao Xu This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-565645/v1 This work is licensed under a CC BY 4.0 License Status: Under Review Version 1 posted 4 You are reading this latest preprint version Abstract The clearance joint is very important to the nonlinear dynamic characteristics of mechanism. This paper presents a nonlinear dynamic characteristic model of shift manipulator for robot driver based on multiple revolute clearance joints to improve dynamic characteristics. The relative penetration depth and velocity between pin and bushing are obtained by establishing the kinematic model of the shift manipulator with clearance joint. Based on the improved L-N contact force model and the modified Coulomb friction model, the normal contact force and the tangential contact force of clearance joint are analyzed. With full clearance joints, the nonlinear dynamic characteristic model of the shift manipulator for robot driver is established. The nonlinear dynamic characteristic laws of the shift manipulator including the end displacement, velocity, acceleration and active joint driving torque are analyzed by different sizes of clearance joints. And the performance test of the shift manipulator for robot driver is conducted. The results demonstrate that the nonlinear dynamic characteristics are well analyzed and verified through the presented characteristic model with clearance joints. Thermodynamics and statistical mechanics shift manipulator clearance joint nonlinear dynamics characteristics analysis Full Text Cite Share Download PDF Status: Under Review Version 1 posted Reviews received at journal 15 Jul, 2021 Reviewers invited by journal 29 Jun, 2021 Editor assigned by journal 27 May, 2021 First submitted to journal 26 May, 2021 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-565645","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":36565900,"identity":"edcb6f9f-0600-4ea3-a681-d6ce9eadddba","order_by":0,"name":"Gang Chen","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAAzElEQVRIie2RMQrCQBBFNwSsRtOOIIlHWFlYBNN7CJtNk2q1thAJWNgIaT1GwAsEBqwiXiHWWuwJRLGxzJSC++r/+PwZITyeX8UAxlEYUstX3GiqhvteLtlGcEzXWXWFMbLiyfxCd7CoFIGQYpMuOpVJs8pn0GCsqV+34pwvi06lsFr1D6g0DYwMCmIo5eOtPDE77UAiS0nQqtsRMKtCriLxoYUDVEjvIxvOlqS0yhnYxlFJ1LpNymipRe/7DtMV/7QUInScoMfj8fwxL1OPPFL+S63SAAAAAElFTkSuQmCC","orcid":"https://orcid.org/0000-0002-1126-2087","institution":"Nanjing University of Science and Technology","correspondingAuthor":true,"submittingAuthor":false,"prefix":"","firstName":"Gang","middleName":"","lastName":"Chen","suffix":""},{"id":36565901,"identity":"870d52ae-43d3-4faa-8fd0-61f0c6552921","order_by":1,"name":"Xinyao Xu","email":"","orcid":"","institution":"Nanjing University of Science and Technology","correspondingAuthor":false,"submittingAuthor":false,"prefix":"","firstName":"Xinyao","middleName":"","lastName":"Xu","suffix":""}],"badges":[],"createdAt":"2021-05-27 04:23:21","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-565645/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-565645/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":13654443,"identity":"71c27148-dada-48ce-ac60-d0d23b321564","added_by":"auto","created_at":"2021-09-17 09:57:42","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":2086967,"visible":true,"origin":"","legend":"","description":"","filename":"renamed8971a.pdf","url":"https://assets-eu.researchsquare.com/files/rs-565645/v1_covered.pdf"},{"id":11173465,"identity":"cf98acba-eb43-4f55-9f29-e56cc3cb52ec","added_by":"auto","created_at":"2021-07-06 19:30:33","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":2083363,"visible":true,"origin":"","legend":"","description":"","filename":"renamed8971a.pdf","url":"https://assets-eu.researchsquare.com/files/rs-565645/v1_covered.pdf"}],"financialInterests":"","formattedTitle":"Nonlinear Dynamic Characteristics Analysis of Shift Manipulator for Robot Driver with Multiple Joint Clearance","fulltext":[{"header":"Full Text","content":"This preprint is available for \u003ca href='/article/rs-565645/latest.pdf' target='_blank'\u003edownload as a PDF\u003c/a\u003e."}],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":false,"highlight":"","institution":"","isAcceptedByJournal":true,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":true,"isPdf":false,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"nonlinear-dynamics","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"nody","sideBox":"Learn more about [Nonlinear Dynamics](https://www.springer.com/journal/11071)","snPcode":"11071","submissionUrl":"https://submission.nature.com/new-submission/11071/3","title":"Nonlinear Dynamics","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"stoa","reportingPortfolio":"Springer Hybrid","inReviewEnabled":true,"inReviewRevisionsEnabled":false},"keywords":"shift manipulator, clearance joint, nonlinear dynamics, characteristics analysis","lastPublishedDoi":"10.21203/rs.3.rs-565645/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-565645/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"The clearance joint is very important to the nonlinear dynamic characteristics of mechanism. This paper presents a nonlinear dynamic characteristic model of shift manipulator for robot driver based on multiple revolute clearance joints to improve dynamic characteristics. The relative penetration depth and velocity between pin and bushing are obtained by establishing the kinematic model of the shift manipulator with clearance joint. Based on the improved L-N contact force model and the modified Coulomb friction model, the normal contact force and the tangential contact force of clearance joint are analyzed. With full clearance joints, the nonlinear dynamic characteristic model of the shift manipulator for robot driver is established. The nonlinear dynamic characteristic laws of the shift manipulator including the end displacement, velocity, acceleration and active joint driving torque are analyzed by different sizes of clearance joints. And the performance test of the shift manipulator for robot driver is conducted. 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