Analytical method for the kinetostatic analysis of the second-class RRR ASSUR Group allowing for friction in the kinematic pairs
Fecha
2010
Autores
Durango, Sebastián
Calle, Gabriel
Ruíz, Oscar
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Título de la revista
ISSN de la revista
1678-5878
Título del volumen
Editor
SciELO Brasil
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Resumen
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