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

Conference paper

DOI: 10.1007/978-3-319-33714-2_11

Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 569)
Cite this paper as:
Wojtyra M. (2016) Properties of the Dahl Model Applied to Modelling of Static Friction in Closed-Loop Kinematic Chains. In: Parenti-Castelli V., Schiehlen W. (eds) ROMANSY 21 - Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences (Courses and Lectures), vol 569. Springer, Cham

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.

Keywords

Static friction Dahl model Redundant constraints Solution uniqueness 

Copyright information

© CISM International Centre for Mechanical Sciences 2016

Authors and Affiliations

  1. 1.Institute of Aeronautics and Applied Mechanics, Warsaw University of TechnologyWarszawaPoland

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