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

Marek Wojtyra


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 (FPAE / IAAM)
Marek Wojtyra,,
- The Institute of Aeronautics and Applied Mechanics
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
Languageen angielski
Score (nominal)15
Score sourceconferenceIndex
ScoreMinisterial score = 15.0, 06-07-2020, BookChapterSeriesAndMatConfByConferenceseries
Ministerial score (2013-2016) = 15.0, 06-07-2020, BookChapterSeriesAndMatConfByConferenceseries
Publication indicators WoS Citations = 3; Scopus Citations = 4; GS Citations = 4.0
Citation count*4 (2020-08-22)
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* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.
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