Properties of the Dahl Model Applied to Modelling of Static Friction in Closed-Loop Kinematic Chains

Marek Wojtyra

Abstract

High parametric sensitivity of the Dahl model is observed when rigid body approach is used to analyse the static friction in close-loop mechanisms. The origins of sensitivity problems are investigated. The possibility of diminishing sensitivity problems by taking flexibility into account is discussed.
Author Marek Wojtyra ITLMS
Marek Wojtyra,,
- The Institute of Aeronautics and Applied Mechanics
Pages93-102
Publication size in sheets0.5
Book Parenti-Castelli Vincenzo, Schliehen Werner (eds.): ROMANSY 21 - Robot Design, Dynamics and Control. Proceedings of the 21st CISM-IFToMM Symposium, CISM International Centre for Mechanical Sciences, vol. 569, 2016, Springer International Publishing, ISBN 978-3-319-33713-5, 448 p., DOI:10.1007/978-3-319-33714-2
Keywords in EnglishStatic friction, Dahl model, Redundant constraints, Solution uniqueness
DOIDOI:10.1007/978-3-319-33714-2
URL http://www.springer.com/us/book/9783319337135#aboutBook
Languageen angielski
Score (nominal)15
Citation count*3 (2018-06-12)
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