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2016 | OriginalPaper | Chapter

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

Author : Marek Wojtyra

Published in: ROMANSY 21 - Robot Design, Dynamics and Control

Publisher: Springer International Publishing

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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.

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Title: Properties of the Dahl Model Applied to Modelling of Static Friction in Closed-Loop Kinematic Chains
Author: Marek Wojtyra
Publisher: Springer International Publishing
Book: ROMANSY 21 - Robot Design, Dynamics and Control
Print ISBN: 978-3-319-33713-5

Electronic ISBN: 978-3-319-33714-2

Copyright Year: 2016
DOI: https://doi.org/10.1007/978-3-319-33714-2_11