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Summary: Backlash Detection in Geared Mechanisms:
Modeling, Simulation, and Experimentation
Nilanjan Sarkar
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Randy E. Ellis
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Thomas N. Moore
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Department of Mechanical Engineering
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Department of Computing and Information Science
Queen's University, Kingston, CANADA K7L3N6
ABSTRACT
Backlash is a common fault that occurs in geared mechanisms, and can produce inaccuracy or uncontrollabil-
ity of the mechanism. It is shown that, by modeling backlash as microscopic impact, its presence can be detected
and possibly measured using only simple sensors. The first stage of modeling establishes the need for the use
of nonlinear elastic and damping forces in establishing the gear-teeth reaction force. The second stage of mod-
eling used a detailed digital multibody simulation to develop and test the effectiveness of the proposed detection
approach. Experiments verify the efficacy of the methodology in practice. Finally, the results can be quantified
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