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Challenges for Mechanism Design in Robotics Read chapter Read first chapter

2019 | OriginalPaper | Chapter

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

Author : Marek Wojtyra

Published in: ROMANSY 22 – Robot Design, Dynamics and Control

Publisher: Springer International Publishing

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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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previous chapter Dynamic Analysis and Control of an Antagonistically Actuated Tensegrity Mechanism
next chapter Generalization of the Virtual Redundant Axis Method to Multiple Serial-Robot Singularities
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Metadata
Title
Modeling of Static Friction in Closed-Loop Kinematic Chains with Multiple Degrees of Freedom—A Study of Uniqueness and Parametric Sensitivity Problems
Author
Marek Wojtyra
Copyright Year
2019
Book
ROMANSY 22 – Robot Design, Dynamics and Control

Print ISBN: 978-3-319-78962-0

Electronic ISBN: 978-3-319-78963-7

Copyright Year: 2019

DOI
https://doi.org/10.1007/978-3-319-78963-7_61