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.
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This study was supported by the Institute of Aeronautics and Applied Mechanics funds for scientific research.
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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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DOI: https://doi.org/10.1007/978-3-319-78963-7_61
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