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Título : Velocity Dependence in the Cyclic Friction Arising with Gears
Autor : García Armada, Elena ; González de Santos, Pablo; Canudas de Wit, Carlos
Palabras clave : meshing friction
position-dependent friction
friction identification
friction modelling
Fecha de publicación : 9-sep-2002
Editor: Sage Publications
Citación : The International Journal of Robotics Research Vol. 21, Nº. 9, September 2002, pp. 761-771
Resumen: Recent 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.
Versión del editor: http://ijr.sagepub.com/
URI : http://hdl.handle.net/10261/7864
ISSN: 1741-3176 (on line)
0278-3649 (print)
Aparece en las colecciones: (IAI) Artículos
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