Evaluation of Friction Forces in the Joints of Gough-Stewart Manipulator
Many of researchers neglected the effect of friction phenomena in the robotics analysis and the others investigated and studied the behavior of friction phenomena in robot joints with one type of friction. The aims of this paper is to account and investigate the friction forces in all the joints of...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Unviversity of Technology- Iraq
2016-06-01
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| Series: | Engineering and Technology Journal |
| Subjects: | |
| Online Access: | https://etj.uotechnology.edu.iq/article_113140_84d9ebedcc01cb956dfe087150b5025c.pdf |
| _version_ | 1797325871420276736 |
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| author | Hassan M. Alwan Sameh Fareed Hasan |
| author_facet | Hassan M. Alwan Sameh Fareed Hasan |
| author_sort | Hassan M. Alwan |
| collection | DOAJ |
| description | Many of researchers neglected the effect of friction phenomena in the robotics analysis and the others investigated and studied the behavior of friction phenomena in robot joints with one type of friction. The aims of this paper is to account and investigate the friction forces in all the joints of Gough-Stewart manipulator taking into consideration two types of friction(i.e. viscous and coulomb friction) . A mathematical model is derived to evaluate the reaction forces developed in robot joints due to movement of robot. Computer codes are written using MATLAB software to solve the equations derived to simulate the friction force in the joints. |
| first_indexed | 2024-03-08T06:15:37Z |
| format | Article |
| id | doaj.art-85d03d12c0b9400a845df8def9fbbdb1 |
| institution | Directory Open Access Journal |
| issn | 1681-6900 2412-0758 |
| language | English |
| last_indexed | 2024-03-08T06:15:37Z |
| publishDate | 2016-06-01 |
| publisher | Unviversity of Technology- Iraq |
| record_format | Article |
| series | Engineering and Technology Journal |
| spelling | doaj.art-85d03d12c0b9400a845df8def9fbbdb12024-02-04T17:27:42ZengUnviversity of Technology- IraqEngineering and Technology Journal1681-69002412-07582016-06-01346A12211234https://doi.org/10.30684/etj.34.6A.16113140Evaluation of Friction Forces in the Joints of Gough-Stewart ManipulatorHassan M. AlwanSameh Fareed HasanMany of researchers neglected the effect of friction phenomena in the robotics analysis and the others investigated and studied the behavior of friction phenomena in robot joints with one type of friction. The aims of this paper is to account and investigate the friction forces in all the joints of Gough-Stewart manipulator taking into consideration two types of friction(i.e. viscous and coulomb friction) . A mathematical model is derived to evaluate the reaction forces developed in robot joints due to movement of robot. Computer codes are written using MATLAB software to solve the equations derived to simulate the friction force in the joints.https://etj.uotechnology.edu.iq/article_113140_84d9ebedcc01cb956dfe087150b5025c.pdfrobotgoughfriction forcefriction momentcoulomb frictionviscous friction |
| spellingShingle | Hassan M. Alwan Sameh Fareed Hasan Evaluation of Friction Forces in the Joints of Gough-Stewart Manipulator Engineering and Technology Journal robot gough friction force friction moment coulomb friction viscous friction |
| title | Evaluation of Friction Forces in the Joints of Gough-Stewart Manipulator |
| title_full | Evaluation of Friction Forces in the Joints of Gough-Stewart Manipulator |
| title_fullStr | Evaluation of Friction Forces in the Joints of Gough-Stewart Manipulator |
| title_full_unstemmed | Evaluation of Friction Forces in the Joints of Gough-Stewart Manipulator |
| title_short | Evaluation of Friction Forces in the Joints of Gough-Stewart Manipulator |
| title_sort | evaluation of friction forces in the joints of gough stewart manipulator |
| topic | robot gough friction force friction moment coulomb friction viscous friction |
| url | https://etj.uotechnology.edu.iq/article_113140_84d9ebedcc01cb956dfe087150b5025c.pdf |
| work_keys_str_mv | AT hassanmalwan evaluationoffrictionforcesinthejointsofgoughstewartmanipulator AT samehfareedhasan evaluationoffrictionforcesinthejointsofgoughstewartmanipulator |