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  • 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 69 (1999), S. 503-527 
    ISSN: 1432-0681
    Keywords: Key words Unilateral contact ; multibody dynamics ; complementarity ; friction ; impact
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Summary Contact processes may be described by local discretizations, by rigid representation or by mixed methods incorporating both ideas. A rigid body approach is proposed for the dynamics of mechanical systems, achieving good results also for multiple-contact problems. Contacts in multibody systems are mainly considered, with the corresponding contact constraints varying with time, thus generating structure-variant systems. The equations of motion for dynamical systems with such unilateral behavior are discussed, solution methods and applications are presented.
    Type of Medium: Electronic Resource
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  • 3
    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.
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  • 4
    Electronic Resource
    Electronic Resource
    Springer
    Nonlinear dynamics 2 (1991), S. 291-304 
    ISSN: 1573-269X
    Keywords: Chaos ; Fokker-Planck-Equation ; probability density ; global description of motion
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mathematics
    Notes: Abstract An observation of single trajectories exhibiting chaotic motion turns out to be disadvantageous because even smallest variations of the initial conditions grow exponentially in time and result in an unpredictable long-time behaviour. The paper gives a different approach based on a probability distribution of the state space variables which is invariant on the area of attraction and results in a global description of chaotic motion.
    Type of Medium: Electronic Resource
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  • 5
    Electronic Resource
    Electronic Resource
    Springer
    Nonlinear dynamics 3 (1992), S. 245-259 
    ISSN: 1573-269X
    Keywords: Unilateral contacts ; constrained motion ; friction ; impacts
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mathematics
    Notes: Abstract In the following a percussion drilling machine is examined as an example for mechanical systems with unilateral contacts. It is characteristic for such systems that the number of degrees of freedom changes during motion. To avoid a description of each possible system state using different sets of minimal coordinates, the constrained motion is taken into account by algebraic relations. This method has the advantage that the motion of the system and simultaneously the constraint forces are available, which is necessary to obtain conditions for a change in the state of the system. Furthermore different combinations of constraints can be easily taken into consideration in this way.
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