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Static analysis of a two-member linkage interacting with a given surface

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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.

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Authors and Affiliations

  1. Institute for Problems in Mechanics of the Russian Academy of Sciences, 101-1 prosp. Vernadskogo, Moscow 117526, Russia, , , , , , RU

    N. N. Bolotnik, F. L. Chernousko & S. A. Kumakshev

  2. Lehrstuhl B für Mechanik TU München, D-85747 Garching, Germany, , , , , , DE

    F. Pfeiffer

Authors
  1. N. N. Bolotnik
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  2. F. L. Chernousko
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  3. S. A. Kumakshev
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  4. F. Pfeiffer
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Additional information

Received 21 December 1998; accepted for publication 25 February 1999

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Bolotnik, N., Chernousko, F., Kumakshev, S. et al. Static analysis of a two-member linkage interacting with a given surface. Archive of Applied Mechanics 69, 429–442 (1999). https://doi.org/10.1007/s004190050232

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  • DOI: https://doi.org/10.1007/s004190050232

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