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  • 1
    Electronic Resource
    Electronic Resource
    Static analysis of a two-member linkage interacting with a given surface (1999)
    Springer
    Archive of applied mechanics 69 (1999), S. 429-442 
    Details
    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
    URL: http://dx.doi.org/10.1007/s004190050232
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    Paper (German National Licenses)
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  • 2
    Electronic Resource
    Electronic Resource
    Multiple impacts with friction in rigid multibody systems (1995)
    Springer
    Nonlinear dynamics 7 (1995), S. 471-497 
    Details
    ISSN: 1573-269X
    Keywords: Impacts with friction ; multibody systems ; unilateral constraints ; complementarity problems
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mathematics
    Notes: Abstract An impact model for two-dimensional contact situations is developed which contains the main physical effects of a compliance element in the normal direction and a series of a compliance and Coulomb friction elements in the tangential direction. For systems with multiple impacts a unilateral formulation based on Poisson's hypothesis is used to describe the impulses which are transferred in the normal direction. The event of an impact is divided into two phases. The phase of compression ends with vanishing approaching velocity if normal impulses are transferred and is equivalent to a completely inelastic collision. The phase of expansion allows the bodies to separate under the action of the normal impulses whenever they are large enough. The absolute values of the tangential impulses are bounded by the magnitudes of the normal impulses, due to the Coulomb friction relationship on the impulse level. One part of the transferred tangential impulse during compression is assumed to be partly reversible which may be regarded as an application of Poisson's law. The remaining part is completely irreversible and considered friction. This formulation contains the special case of completely elastic tangential impacts as well as the situation when only Coulomb friction acts. It is proven that the presented impact model is always dissipative or energy preserving. The evaluation of the problem is done by solving one set of complementarity conditions during compression and a nearly identical set of equations during expansion. The theory is applied to some basic examples which demonstrate the difference between Newton's and Poisson's hypotheses.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF00121109
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    Paper (German National Licenses)
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