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In shift gearboxes, audible vibrations can arise during the process of clutch engagement. Measurements show an unstable axial motion of the gear unit input shaft. In order to explain this effect, an approach which establishes the interaction of the slipping clutch and the gearing is proposed. The suggested model consists of a pressure plate, a clutch disc, a gear unit input shaft and a tooth contact...
This contribution presents a method to improve the energy efficiency of walking bipedal robots over 50% in a range of speed from 0.3 to 2.3 m/s by the use of constant elastic couplings. The method consists of modeling the robot as underactuated system – so that it is making use of its natural dynamics instead of fighting against it – controlling its joint‐angle trajectories with input‐output feedback...
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