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  • Key words statics  (1)
  • Key words Traction drive  (1)
  • 1
    Electronic Resource
    Electronic Resource
    Springer
    Archive of applied mechanics 69 (1999), S. 429-442 
    ISSN: 1432-0681
    Keywords: Key words statics ; two-member linkage ; Coulomb friction ; robotics
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Summary The static interaction of a two-member linkage with a given surface is investigated. Dry friction acts at the point of contact of the linkage with the surface. The linkage has two drives generating torques at its joints. The optimal distribution of the joint torques is determined to maximize the friction force at the point of contact. The dependence of this maximal force on the lengths of the links and on the linkage configuration is investigated. The results obtained can be applied to the analysis and optimization of various robotic systems, in particular, manipulators interacting with rough surfaces and walking machines, especially tube-crawling robots.
    Type of Medium: Electronic Resource
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  • 2
    Electronic Resource
    Electronic Resource
    Springer
    Archive of applied mechanics 70 (2000), S. 479-488 
    ISSN: 1432-0681
    Keywords: Key words Traction drive ; friction ; contact ; rheology ; thermal effects
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Summary  In automotive traction drives, power is transmitted by friction forces. The friction forces result from the shear stresses developed in lubricated and highly loaded contacts between rolling bodies. Due to the kinematics of a traction drive, shear velocities occur in both the rolling direction and perpendicular to it. Due to these shear velocities and by normal pressure, the lubricant is forced to build up shear stresses. The increase of the shear stresses may be modelled by a nonlinear viscous element. The describing differential equations are coupled by the equivalent shear stress, which defines the nonlinear behaviour of the element. A fast method is described to evaluate the coupled differential equations. By using a known analytical approximation for the equivalent shear stress, the differential equations are decoupled and can be solved analytically. In an iterative procedure the equivalent shear stress is updated, and the complete solution is found. The iterative method is extended to account for thermal effects in the contact.
    Type of Medium: Electronic Resource
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