Abstract
The present paper suggests a numerical method for calculating the coefficients of the explicit form dynamic equations taking into account the friction in pairs. This method is developed for closed form and configuration space dynamic equations. Matrix methods and Newton-Euler equations are applied for calculating the kinematic characteristics and the generalized forces and reactions. The values so obtained are involved in a numerical procedure suggested for calculating of the elements of the matrices corresponding to the generalized accelerations and velocities. The discontinuous Coulomb friction and open loops are discussed. A numerical procedure is presented when stiction occurs in a joint of a moving open chain.
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© 1995 Springer Science+Business Media Dordrecht
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Zakhariev, E.V. (1995). Quasi-Static Modelling of the Multibody System Dynamics Taking into Account the Friction Forces. In: Pereira, M.F.O.S., Ambrósio, J.A.C. (eds) Computational Dynamics in Multibody Systems. Springer, Dordrecht. https://doi.org/10.1007/978-94-017-1110-4_17
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DOI: https://doi.org/10.1007/978-94-017-1110-4_17
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