The paper is concerned with the problem of synthesis of (passive) mechanical one-port networks. One of the main contributions of the paper is the introduction of a device, which win be called the inerter, which is the true network dual of the spring. This contrasts with the mass element which, by definition, always has one terminal connected to ground. The inerter allows electrical circuits to be translated over to mechanical ones in a completely analogous way. The inerter need not have large mass. This allows any arbitrary positive-real impedance to be synthesized mechanically using physical components which may be assumed to have small mass compared to other structures to which they may be attached. The possible application of the inerter is considered to a vibration absorption problem, a suspension strut design, and as a simulated.

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Synthesis of mechanical networks: the inerter

Krylov subspace techniques for reduced-order modeling of large-scale dynamical systems

Dissipative Dynamical Systems

Synthesis of Reactance 4-Poles Which Produce Prescribed Insertion Loss Characteristics: Including Special Applications To Filter Design

The authors explore the sources of and solutions to robot contact instability associated with force feedback. The behavior of several linear robot models is analyzed in terms of the properties of their admittances. Using the novel technique of passive physical equivalents, an explanation for the often-observed instability of a force-controlled robot contacting a stiff surface is offered, and it is shown that a fundamental limit exists to the efficacy of any force feedback controller implemented on a robot with noncolocated actuators and sensors. Suggestions for improved force control involving both mechanical design and compensator design are also presented. >

An analysis of contact instability in terms of passive physical equivalents

Thesis (Sc. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering, 1931

Otto Brune

Papers

Synthesis of a finite two-terminal network whose driving-point impedance is a prescribed function of frequency