For a serial robot, the friction in each joint is overcome by the actuator driving that joint. This is not the case, however, for a parallel or multi-loop robot. These linkages contain unactuated joints whose movement is controlled by the geometry of the linkage and the motion of the actuated joints. The actuators must work to overcome the frictional forces in the passive joints, and the question of how this work is apportioned amongst them is the topic of this paper. We also explore the degradation, by joint friction, of the linkage’s ability to apply forces. A technique for constructing a force model of the linkage is briefly described before being applied to the Melbourne Dextrous Finger, which has a multi-loop structure. Experimental results show the benefit of the predictions.
Modelling friction in multi-loop linkages
Lect Notes Control Inf Sci
2008-04-30
10 pages
Article/Chapter (Book)
Electronic Resource
English
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