%0 Journal Article
	%A Hassan M. Alkomy and  Hesham A. Elkaranshawy and  Ahmed S. Ashour and  Khaled T. Mohamed
	%D 2015
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 106, 2015
	%T Effect of Robot Configuration Parameters, Masses and Friction on Painlevé Paradox for a Sliding Two-Link (P-R) Robot
	%U https://publications.waset.org/pdf/10002480
	%V 106
	%X 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.
	%P 1737 - 1742