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ROMANSY 22 – Robot Design, Dynamics and Control pp 491–498Cite as

Modeling of Static Friction in Closed-Loop Kinematic Chains with Multiple Degrees of Freedom—A Study of Uniqueness and Parametric Sensitivity Problems

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Part of the CISM International Centre for Mechanical Sciences book series (CISM,volume 584)

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 discussed. 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.

Keywords

  • Static friction
  • Solution uniqueness
  • Parametric sensitivity
  • Redundant constraints

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Acknowledgements

This study was supported by the Institute of Aeronautics and Applied Mechanics funds for scientific research.

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Authors and Affiliations

  1. Institute of Aeronautics and Applied Mechanics, Warsaw University of Technology, Warsaw, 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. Inst Natl des Sciences Appliquée (INSA), Rennes Cedex 7, France

    Prof. Dr. Vigen Arakelian

  2. LS2N - UMR CNRS 6004, Lab. des Sciences du Numérique de Nantes, Nantes Cedex 03, France

    Philippe Wenger

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Wojtyra, M. (2019). Modeling of Static Friction in Closed-Loop Kinematic Chains with Multiple Degrees of Freedom—A Study of Uniqueness and Parametric Sensitivity Problems. In: Arakelian, V., Wenger, P. (eds) ROMANSY 22 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 584. Springer, Cham. https://doi.org/10.1007/978-3-319-78963-7_61

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