Bond Graph Modelling of Backlash and Removal of Its Effect Using Dual Drive

Backlash modelling is crucial for a realistic understanding of the dynamics of mechanical systems affected by play or clearance between components. In this work, firstly, the backlash is modelled using the bond graph approach. Further, the use of a dual drive to remove the backlash effect is demonstrated. The developed models are simulated using MATLAB. Simulation results for the displacements, momenta, and contact force are presented. These models would be helpful in understanding the effects of backlash on the dynamics of a system and also demonstrate the applicability of the dual drive to remove the effect of backlash for precision mechanical systems.