Analytical method for the kinetostatic analysis of the second-class RRR ASSUR Group allowing for friction in the kinematic pairs

The calculation of forces in the kinematic pairs of mechanisms by inverse dynamics is usually performed without friction considerations -- In practice, when examination of articulated mechanisms takes into account friction, the solution of the inverse dynamics results in a complex procedure -- If a modular approach for the inverse dynamics is used, then exact solutions are available, but not necessarily are practical -- For example, the analytical solution for a second-class first-type Assur group is a 16th degree equation -- Previous researches proposed an approximated but practical (graphical) method to calculate the forces on the kinematic pairs taking into account the friction forces -- In this article, an analytical interpretation of the Artobolevski approximated method is developed for the second-class Assur group with three rotational pairs -- The final results for the reactions calculated with the implemented method present a good approximation with respect to the graphical solution -- Future work should consider friction forces not only in second-class groups with rotational joints, but also in second-class groups with prismatic joints and high-class Assur groups

• Autores: Durango, Sebastián; Calle, Gabriel; Ruíz, Oscar
• Fecha de publicación: 2010
• Institución: Universidad EAFIT
• Repositorio: Repositorio EAFIT
• Idioma: eng
• OAI Identifier: oai:repository.eafit.edu.co:10784/9682
• Acceso en línea: http://hdl.handle.net/10784/9682
• Palabra clave: MOVIMIENTOS MECÁNICOS; ESFUERZOS Y DEFORMACIONES; ACOPLAMIENTOS (MAQUINARIA); GRÁFICOS POR COMPUTADOR; MÉTODOS ITERATIVOS (MATEMÁTICAS); Strains and stresses; Mechanical movements; Couplings; Computer graphics; Iterative methods (mathematics); Strains and stresses; Mechanical movements; Couplings; Computer graphics; Iterative methods (mathematics); Pares cinemáticos; Sistemas CAD/CAM; Análisis cinetostático; Enfoque modular; Simulink (Programa para computador); Análisis cinemático
• License: Acceso abierto