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.journalTitleJOURNAL OF THE BRAZILIAN SOCIETY OF MECHANICAL SCIENCES AND ENGINEERINGeng
dc.contributor.authorDurango, S.
dc.contributor.authorCalle, G.
dc.contributor.authorRuiz, O.
dc.contributor.departmentUniversidad EAFIT. Departamento de Ingeniería Mecánicaspa
dc.contributor.researchgroupLaboratorio CAD/CAM/CAEspa
dc.date.accessioned2021-04-16T21:59:57Z
dc.date.available2021-04-16T21:59:57Z
dc.date.issued2010-07-01
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 groups. Copyright © 2010 by ABCM.eng
dc.identifierhttps://eafit.fundanetsuite.com/Publicaciones/ProdCientif/PublicacionFrw.aspx?id=1734
dc.identifier.doi10.1590/S1678-58782010000300002
dc.identifier.issn16785878
dc.identifier.issn18063691spa
dc.identifier.otherWOS;000284590200002
dc.identifier.otherSCOPUS;2-s2.0-78649548921
dc.identifier.urihttp://hdl.handle.net/10784/29528
dc.languageeng
dc.publisherSpringer Berlin Heidelberg
dc.relation.urihttps://www.scopus.com/inward/record.uri?eid=2-s2.0-78649548921&doi=10.1590%2fS1678-58782010000300002&partnerID=40&md5=609bf70bc6124863c13afa753a410e62
dc.rightshttps://v2.sherpa.ac.uk/id/publication/issn/1678-5878
dc.sourceJOURNAL OF THE BRAZILIAN SOCIETY OF MECHANICAL SCIENCES AND ENGINEERING
dc.subject.keywordDynamicseng
dc.subject.keywordInverse problemseng
dc.subject.keywordKinematicseng
dc.subject.keywordTribologyeng
dc.subject.keywordAnalytical methodeng
dc.subject.keywordAssur groupseng
dc.subject.keywordComplex procedureeng
dc.subject.keywordGraphical solutioneng
dc.subject.keywordKinetostatic analysiseng
dc.subject.keywordKinetostaticseng
dc.subject.keywordModular approacheng
dc.subject.keywordRotational jointeng
dc.subject.keywordFrictioneng
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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