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dc.contributor.authorGarcía Armada, Elena-
dc.contributor.authorGonzález de Santos, Pablo-
dc.contributor.authorCanudas de Wit, Carlos-
dc.date.accessioned2008-10-17T10:41:36Z-
dc.date.available2008-10-17T10:41:36Z-
dc.date.issued2002-09-09-
dc.identifier.citationThe International Journal of Robotics Research Vol. 21, Nº. 9, September 2002, pp. 761-771en_US
dc.identifier.issn1741-3176-
dc.identifier.urihttp://hdl.handle.net/10261/7864-
dc.description.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.en_US
dc.format.extent492435 bytes-
dc.format.mimetypeapplication/pdf-
dc.language.isoengen_US
dc.publisherSage Publicationsen_US
dc.rightsopenAccessen_US
dc.subjectmeshing frictionen_US
dc.subjectposition-dependent frictionen_US
dc.subjectfriction identificationen_US
dc.subjectfriction modellingen_US
dc.titleVelocity Dependence in the Cyclic Friction Arising with Gearsen_US
dc.typeartículoen_US
dc.description.peerreviewedPeer revieweden_US
dc.relation.publisherversionhttp://ijr.sagepub.com/en_US
dc.identifier.e-issn0278-3649-
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