Effects of Flexibility and Damping on Momentum Transfer During Locking of Two Moving Links, Part II: Analytical Approach

Abstract

The numerical analysis presented in Part I of this paper revealed that small and seemingly negligible flexibility and damping effects influence significantly the post-locking motion of the assembly consisting of two joint-connected links. Here we concentrate on a more physical understanding and explanation of the phenomenon observed. It is shown that the main characteristic features of the post-locking motion can be recovered by decomposing it into the “fast” and “slow” modes. The governing equations of these two modes of motion are derived and discussed in detail.