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Velocity Dependence in the Cyclic Friction Arising with Gears

AuthorsGarcía Armada, Elena ; González de Santos, Pablo; Canudas de Wit, Carlos
Keywordsmeshing friction
position-dependent friction
friction identification
friction modelling
Issue Date9-Sep-2002
PublisherSage Publications
CitationThe International Journal of Robotics Research Vol. 21, Nº. 9, September 2002, pp. 761-771
AbstractRecent research on friction in robot joints and transmission systems has considered meshing friction a position-dependent friction component. However, in this paper we show experimental evidence that meshing friction depends highly on joint speed.We identify the meshing friction in the gearboxes of a robotic leg, and we propose a new mathematical model that considers the rate dependency of meshing friction. The resulting model is validated through experimentation. Results show that meshing friction is responsible for friction torque oscillations with an amplitude up to 25 percent of the average friction torque at low speeds. Therefore, this friction component should be taken into account if an accurate friction model is desired.
Publisher version (URL)http://ijr.sagepub.com/
Appears in Collections:(IAI) Artículos
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