Dynamic Analysis and Force Adaptation in Elastic-Link Mechanical Systems with Two Degrees of Freedom

摘要

This study presents a comprehensive dynamic analysis of mechanical systems incorporating elastic joints and introduces an adaptive vibration actuator with an integrated transmission variator. The system’s behavior is modeled through kinematic and dynamic formulations, utilizing both analytical and numerical methods. The analysis reveals that the inclusion of elastic elements enables a force adaptation effect, allowing the output element to adjust dynamically to variations in external loading. Under conditions of constant input power, the output speed varies inversely with the load, ensuring reliable adaptive performance. Furthermore, the elastic joints facilitate internal force redistribution, enhancing energy efficiency and reducing mechanical losses. These findings hold relevance for applications in industrial automation and robotics, where consistent functionality under variable load conditions is essential.