Fig. 1
From: Joints with angle dependent damping can help to reduce impact forces in robots
Analytical model: (A-i) Kinematic diagram of the segmented model. Entire mass is concentrated on top of the linkage. \(F_y\) and \(F_x\) are vertical and horizontal forces. The passive damper-joint is pinned and consists of a damper and a spring. (A-ii) 3D model of the system including the damper, spring, links and drop weight. (B) Angle dependent damping coefficient variation (\(c(\theta )\)) vs. Damper-joint angle (\(\theta\)). Plotted for mean damping coefficient \(c =\) 0.78 Nm s \(\text {rad}^{-1}\) and \(\Delta c\) = 0, 0.5, 1.0, 1.5 Nm s \(\text {rad}^{-1}\). (C) Analytical model parameters.
