Numerical and experimental identifications of a motor-toggle mechanism

In this paper, the punching machine is made up by a toggle mechanism driven by a permanent magnet (PM) synchronous servomotor. First, Hamilton’s principle, Lagrange multiplier, geometric constraints and partitioning method are employed to derive its dynamic equations. The system parameters are difficult to obtain if the mechanism’s components cannot be taken apart. In this paper, the recursive least-squares (RLS) method is adopted to identify these parameters of the motor-toggle mechanism, which cannot be disassembled and their real values cannot be measured. From the comparison between the numerical simulations and experimental results, it is shown that the RLS identification method is feasible, and the parameters of links’ masses and friction coefficient are identified accurately.