Properties of the Dahl Model Applied to Modelling of Static Friction in Closed-Loop Kinematic Chains
AbstractHigh 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.
|Publication size in sheets||0.5|
|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 English||Static friction, Dahl model, Redundant constraints, Solution uniqueness|
|Citation count*||3 (2018-06-12)|
* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.