Robot design and evaluation requires an extensive analysis of the nature and the quantitative interrelations of the dynamic factors that govern the operation of a manipulator. Coulomb friction is an inherent phenomenon in devices with moving parts. In multi-degree-of-freedom mechanical devices, Coulomb friction causes highly nonlinear coupling of the corresponding differential equations of motion. The presence of Coulomb friction is responsible for motion inaccuracies. The authors address the issues associated with Coulumb friction and investigate their consequences on design and performance considerations. The reasoning that permits the incorporation of Coulumb friction into the study of the dynamic response of a robot is developed. Within this framework, a recursive approach that reveals the motion progress of a manipulator may be developed for digital simulation-oriented applications. Implementation of the properties and principles discussed may help uncover critical aspects of a manipulator's functionality and suggest ways for design improvements.
|Original language||English (US)|
|Title of host publication||Unknown Host Publication Title|
|Number of pages||9|
|State||Published - Jan 1 1987|