Velocity Dependence in the Cyclic Friction Arising with Gears  

Oleh:

Santos, Pablo Gonzalez de ; Garcia, Elena ; Wit, Carlos Canudas de

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 21 no. 9 (Sep. 2002), page 761-771.
Topik: meshing friction; position-dependent friction; friction identification; friction modelling
Fulltext: 761.pdf (504.59KB)

Isi artikel

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.

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