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

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dc.citation.epage207spa
dc.citation.issue3spa
dc.citation.journalTitleJournal Of The Brazilian Society Of Mechanical Sciences And Engineeringspa
dc.citation.spage200spa
dc.citation.volume32spa
dc.contributor.authorDurango, Sebastián
dc.contributor.authorCalle, Gabriel
dc.contributor.authorRuíz, Oscar
dc.contributor.departmentUniversidad EAFIT. Departamento de Ingeniería Mecánicaspa
dc.contributor.researchgroupLaboratorio CAD/CAM/CAEspa
dc.date.accessioned2016-11-18T22:15:45Z
dc.date.available2016-11-18T22:15:45Z
dc.date.issued2010
dc.description.abstractThe 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 groupseng
dc.formatapplication/pdfeng
dc.identifier.doi10.1590/S1678-58782010000300002
dc.identifier.issn1678-5878
dc.identifier.urihttp://hdl.handle.net/10784/9682
dc.language.isoengeng
dc.publisherSciELO Brasilspa
dc.relation.urihttp://dx.doi.org/10.1590/S1678-58782010000300002
dc.rightsinfo:eu-repo/semantics/openAccess
dc.rights.localAcceso abiertospa
dc.subject.keywordStrains and stressesspa
dc.subject.keywordMechanical movementsspa
dc.subject.keywordCouplingsspa
dc.subject.keywordComputer graphicsspa
dc.subject.keywordIterative methods (mathematics)spa
dc.subject.keywordStrains and stresseseng
dc.subject.keywordMechanical movementseng
dc.subject.keywordCouplingseng
dc.subject.keywordComputer graphicseng
dc.subject.keywordIterative methods (mathematics)eng
dc.subject.keywordPares cinemáticos.keywor
dc.subject.keywordSistemas CAD/CAM.keywor
dc.subject.keywordAnálisis cinetostático.keywor
dc.subject.keywordEnfoque modular.keywor
dc.subject.keywordSimulink (Programa para computador).keywor
dc.subject.keywordAnálisis cinemático.keywor
dc.subject.lembMOVIMIENTOS MECÁNICOSspa
dc.subject.lembESFUERZOS Y DEFORMACIONESspa
dc.subject.lembACOPLAMIENTOS (MAQUINARIA)spa
dc.subject.lembGRÁFICOS POR COMPUTADORspa
dc.subject.lembMÉTODOS ITERATIVOS (MATEMÁTICAS)spa
dc.titleAnalytical method for the kinetostatic analysis of the second-class RRR ASSUR Group allowing for friction in the kinematic pairseng
dc.typeinfo:eu-repo/semantics/articleeng
dc.typearticleeng
dc.typeinfo:eu-repo/semantics/publishedVersioneng
dc.typepublishedVersioneng
dc.type.localArtículospa

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