@article{(Open Science Index):https://publications.waset.org/pdf/10002480,
	  title     = {Effect of Robot Configuration Parameters, Masses and Friction on Painlevé Paradox for a Sliding Two-Link (P-R) Robot},
	  author    = {Hassan M. Alkomy and  Hesham A. Elkaranshawy and  Ahmed S. Ashour and  Khaled T. Mohamed},
	  country	= {},
	  institution	= {},
	  abstract     = {For a rigid body sliding on a rough surface, a range of
uncertainty or non-uniqueness of solution could be found, which is
termed: Painlevé paradox. Painlevé paradox is the reason of a wide
range of bouncing motion, observed during sliding of robotic
manipulators on rough surfaces. In this research work, the existence
of the paradox zone during the sliding motion of a two-link (P-R)
robotic manipulator with a unilateral constraint is investigated.
Parametric study is performed to investigate the effect of friction,
link-length ratio, total height and link-mass ratio on the paradox zone.},
	    journal   = {International Journal of Mechanical and Mechatronics Engineering},
	  volume    = {9},
	  number    = {10},
	  year      = {2015},
	  pages     = {1737 - 1742},
	  ee        = {https://publications.waset.org/pdf/10002480},
	  url   	= {https://publications.waset.org/vol/106},
	  bibsource = {https://publications.waset.org/},
	  issn  	= {eISSN: 1307-6892},
	  publisher = {World Academy of Science, Engineering and Technology},
	  index 	= {Open Science Index 106, 2015},
	}