Hassan M. Alkomy and Hesham A. Elkaranshawy and Ahmed S. Ashour and Khaled T. Mohamed
Effect of Robot Configuration Parameters, Masses and Friction on Painlevé Paradox for a Sliding TwoLink (PR) Robot
1737 - 1742
2015
9
10
International Journal of Mechanical and Mechatronics Engineering
https://publications.waset.org/pdf/10002480
https://publications.waset.org/vol/106
World Academy of Science, Engineering and Technology
For a rigid body sliding on a rough surface, a range of
uncertainty or nonuniqueness 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 twolink (PR)
robotic manipulator with a unilateral constraint is investigated.
Parametric study is performed to investigate the effect of friction,
linklength ratio, total height and linkmass ratio on the paradox zone.
Open Science Index 106, 2015