Por favor, use este identificador para citar o enlazar a este item:
http://hdl.handle.net/10261/7864
COMPARTIR / EXPORTAR:
SHARE BASE | |
Visualizar otros formatos: MARC | Dublin Core | RDF | ORE | MODS | METS | DIDL | DATACITE | |
Título: | Velocity Dependence in the Cyclic Friction Arising with Gears |
Autor: | García Armada, Elena CSIC ORCID ; 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 | E-ISSN: | 0278-3649 |
Aparece en las colecciones: | (IAI) Artículos |
Ficheros en este ítem:
Fichero | Descripción | Tamaño | Formato | |
---|---|---|---|---|
velocity.pdf | 480,89 kB | Adobe PDF | Visualizar/Abrir |
CORE Recommender
Page view(s)
372
checked on 24-abr-2024
Download(s)
460
checked on 24-abr-2024
Google ScholarTM
Check
NOTA: Los ítems de Digital.CSIC están protegidos por copyright, con todos los derechos reservados, a menos que se indique lo contrario.