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

Conference paper
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 569)


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.


Static friction Dahl model Redundant constraints Solution uniqueness 



This research was supported by the National Science Centre (Poland) grant no. DEC-2012/07/B/ST8/03993.


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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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