Methods of dynamic analysis of open and closed manipulators,incorporating dry friction in joints

摘要

This paper is concerned with dynamic analysis (in the range of forward dynamics) of multibody systems which are either open kinematic chains or open kinematic chains with a joined subchain. The analysis can take into account dry friction (with two distinct phases: kinetic friction and stiction) both in sliding and rotary joints.The method presented also enables flexibility and clearance in drives to be taken into consideration.On the basis of physical models worked out,the equations of motion have been derived by using the Lagrange equations and software for solving them has been developed.The numerical calculations were carried out and exemplary results are presented.