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Symposium on Robot Design, Dynamics and Control

ROMANSY21 2016: ROMANSY 21 - Robot Design, Dynamics and Control pp 93–101Cite as

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

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

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

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Acknowledgments

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

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Authors and Affiliations

  1. Institute of Aeronautics and Applied Mechanics, Warsaw University of Technology, Warszawa, Poland

    Marek Wojtyra

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  1. Marek Wojtyra
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Correspondence to Marek Wojtyra .

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Editors and Affiliations

  1. Dept. of Industrial Engineering, University of Bologna Dept. of Industrial Engineering, Bologna, Italy

    Vincenzo Parenti-Castelli

  2. Inst. für Techn. Num. Mechanik, Universität Stuttgart Inst. für Techn. Num. Mechanik, Stuttgart, Germany

    Werner Schiehlen

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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. ROMANSY21 2016. CISM International Centre for Mechanical Sciences, vol 569. Springer, Cham. https://doi.org/10.1007/978-3-319-33714-2_11

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  • DOI: https://doi.org/10.1007/978-3-319-33714-2_11

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