Dynamic Simulation of a Mobile Manipulator with Joint Friction
Journal Title: Tribology in Industry - Year 2017, Vol 39, Issue 2
Abstract
Mission criticality in disaster search and rescue robotics highlights the requirement of specialized equipment. Specialized manipulators that can be mounted on existing mobile platforms can improve rescue process. However specialized manipulators capable of lifting heavy loads are not yet available. Moreover, effect of joint friction in these manipulators requires further analysis. To address these issues, concepts of model based design and concurrent engineering are applied to develop a virtual prototype of the manipulator mechanism. Closed loop manipulator mechanism actuated by prismatic actuators is proposed herein. The mechanics model of the manipulator is presented here as a set of equations and as multibody models. Mechanistic simulation of the virtual prototype has been conducted and the results are presented. Combined friction model that comprises Coulomb, viscous and Stribeck friction is used to compute frictional forces and torques generated at each one degree of freedom translational and rotational joints. Multidisciplinary approach employed in this work improves product design cycle time for complex mechanisms. Kinematic and dynamic parameters are presented in this paper. Friction forces and torques from simulation are also presented in addition to the visual representation of the virtual prototype.
Authors and Affiliations
V . Chacko, Z . A . Khan
Keywords
Related Articles
- EP ID EP228723
- DOI 10.24874/ti.2017.39.02.02
- Views 107
- Downloads 0
Wear and Corrosion Resistance of CrN-based Coatings Deposited by R.F Magnetron Sputtering
A comparative study was conducted to evaluate the performances against wear and corrosion of CrN, CrMoN, CrZrN, CrVN single layer thin films. The latest are synthesized onto steel substrates (DIN 90CrMoV8), using R.F rea...
Mechanical and Tribological Behavior of Vinyl Ester Hybrid Composites
An attempt has been made to explore the effect of hybrid reinforcement on mechanical properties and dry sliding wear behavior of vinyl ester (VE) composites. Vinyl ester reinforced with alkali treated coir fibers (CF-VE)...
Solid Lubrication in Iron Based Materials – A Review
The wide choice of materials available today has posed a major challenge for designers and engineers to select the most suitable material and manufacturing process for any engineering application. The mechanical and trib...
The Wear of the Focusing Tube and the Cut-Surface Quality
The wear of the focusing tube is a very important feature of the abrasive water jet machining. Of all rejected focusing tubes, 85% are worn. Similarly, the age of focusing tube influences the cut geometry and quality of...
Effect of Nanoadditives on the Wear Behavior of Spheroidal Graphite Cast Irons
The tribological characteristics of spheroidal graphite cast irons with and without nanosized additives are investigated. The tests are performed as in cast iron condition as well after austempering. The spheroidal graph...