Abstract
Simulation studies are performed for two different 4-bar mechanisms using separately-excited d.c. motors for actuation. The dynamic time-response analyses are carried out by means of numerical solution of the governing state equations on a digital computer. The influence of system parameters, including both motor properties and mechanism properties, on various performance characteristics is investigated, and the results are presented in the form of nondimensional graphs. These graphs help in understanding the interaction between the mechanism and its d.c. drive and are a start at obtaining generalized, quantitative information for the design of actuator-mechanism systems.
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