Evaluation of the Feasibility of a 2-Degree-of-Freedom Jerk Detection Model for Practical Applications

Abstract

Abstract. This study evaluates the feasibility of a two degree-of-freedom (2-DoF) jerk sensor model originally proposed by Fujiyoshi et al. (2003, Analysis and Design of a New Micro Jerk Sensor With Viscous Coupling,” J. Robot. Mechatron., 15(6), pp. 582–587), focusing on its frequency response characteristics and practical potential for jerk measurement. The analysis combines two complementary approaches—theoretical derivation of transfer functions from the system's equations of motion and numerical simulation of a 3D model in simscapemultibody—to generate and evaluate Bode plots across different frequency ranges. While the theoretical model exhibited consistent trends, the simscape simulations revealed deviations at extreme frequencies, suggesting limitations in the sensor's operational bandwidth. Further investigation examined how variations in system parameters and the introduction of nonlinear friction effects affected the sensor response. The results demonstrated that high or unequal friction distributions altered system dynamics by inducing resonance or damping out relative displacements between components, while a hybrid friction model produced smoother transitions but failed to fully mitigate these effects. Overall, the study concludes that although the proposed sensor successfully captures jerk behavior within a limited low-frequency range—approximately between 1 and 100 rad/s—its sensitivity to dynamic and nonlinear factors significantly constrains its performance, raising concerns about the practical feasibility of the current design. Future research should focus on exploring alternative structures capable of achieving more robust and reliable jerk measurements across a wide frequency range.