Modeling of Static Friction in Closed-Loop Kinematic Chains With Multiple Degrees of Freedom - a Study of Uniqueness and Parametric Sensitivity Problems

Marek Wojtyra

Abstract

Problems with uniqueness and high parametric sensitivity of solution of equations of motion, encountered in the static friction regime, are addressed. Friction in joints of a multiple degree of freedom closed-loop kinematic chains is dis-cussed. Two different models of friction are studied: the discontinuous Coulomb model with stiction regime represented in terms of additional constraints and the approximate Coulomb model, smoothed in the vicinity of zero relative velocity. Origins of non-uniqueness and high sensitivity are investigated; the questionable credibility of the stiction regime simulation results is pointed out. Two examples are provided to illustrate the discussed issues.
Author Marek Wojtyra (FPAE / IAAM)
Marek Wojtyra,,
- The Institute of Aeronautics and Applied Mechanics
Pages491-498
Publication size in sheets0.5
Book Arakelian Vigen, Wenger Philippe (eds.): ROMANSY 22 - Robot Design, Dynamics and Control, 2018, Springer International Publishing, ISBN 978-3-319-78962-0, [978-3-319-78963-7], 534 p., DOI:10.1007/978-3-319-78963-7
Keywords in EnglishStatic friction, Solution uniqueness, Parametric sensitivity, Redundant con-straints
DOIDOI:10.1007/978-3-319-78963-7_61
URL https://link.springer.com/chapter/10.1007/978-3-319-78963-7_61
Languageen angielski
Score (nominal)15
ScoreMinisterial score = 15.0, 16-07-2018, BookChapterMatConf
Ministerial score (2013-2016) = 15.0, 16-07-2018, BookChapterMatConf
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