Aspects Regarding Evaluation of Friction Effects in Robotic Systems
Journal Title: Robotica & Management - Year 2016, Vol 21, Issue 1
Abstract
The paper reveals both experimentally and by numerical simulation that modelling the dynamic behaviour of a robotic system that contains pairs where spin motion exists, finally leads towards nonlinear dynamical models. Despite the fact that academic monographs upon rigid mechanics use the hypothesis that spinning torque depends linearly on the normal force, a simple experiment contradicts this assumption. To this end, the motion of an axi-symmetric body making two contacts with dry friction is analyzed. The qualitative non-linearity of spinning torque on loading force dependence is validated in the end by the modelling of the test using dynamical simulation software.
Authors and Affiliations
Florina-Carmen Ciornei, Stelian Alaci
Keywords
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Aspects Regarding Evaluation of Friction Effects in Robotic Systems
The paper reveals both experimentally and by numerical simulation that modelling the dynamic behaviour of a robotic system that contains pairs where spin motion exists, finally leads towards nonlinear dynamical models. D...