Dynamic Modeling of the Belt Drive System with an Equivalent Tensioner Model

Abstract

Background In the existing studies, the hysteretic model of tensioner is applied in analysis of a belt drive system which can improve the computational accuracy. But the computational efficiency is low and not suitable for system optimization. Purpose In this paper, an approach is presented to simplify the tensioner's hysteretic model into an equivalent stiffness and damping which is used for improving the computational efficiency of vibration responses of the belt drive system. Method A simplified model and computation method of a belt drive system is established. The hysteretic model of a belt tensioner consists of a linear stiffness and viscous damping based on the averaging energy method to simplify the hysteretic parameters and improve the computational efficiency. The equivalent linear stiffness and damping of the tensioner are estimated using an iterative technique. A timing belt drive system is considered as a case study. The belt system's vibration responses are obtained and compared with the measured results to evaluate the performance of the presented approach. Results and conclusionThe computational results are compared with a previously published method, and the difference between the proposed method (Method I) and the previously published method (Method II) is discussed. The presented method has the following merits: (1) The linearization of tensioner's hysteretic model can improve the computational efficiency greatly with an acceptable computational accuracy. (2) The semi-analytic method which is used to derive the system equations can further reduce the amount of computation. It is suitable for parameter optimization of system.

Modal Kinematic Analysis of a Parallel Kinematic Robot with Low-Stiffness Transmissions

“…As far as modeling is concerned, many authors developed numerical models of timing belts, taking into consideration also the interaction between the belt and pulley [9][10][11]. Other recent works also focused on the influence of the tensioner on the dynamic behavior of the belt [12,13], while other papers dealt with new issues concerning the usage of oval pulleys in belt transmissions [14,15]. As confirmation of the researcher's interest in the dynamic behavior of timing belts, there is also an interesting review on the methodologies for modeling and analysis of the axial and torsional vibration of these kinds of transmissions [16].…”

“…In other words, th 476 represent the projection of the modal vectors after suitable normalization on the mob 477 platform using the Jacobian matrix D p . The direction of the end-effector's displaceme 478 are represented, for mode 1 to 6, inFigure 9,10,11,12, 13 and 14.…”