EFFECT OF THE LINK-LENGTH RATIO ON PAINLEVÉ PARADOX FOR A SLIDING TWO-LINK ROBOT | ||||
The International Conference on Applied Mechanics and Mechanical Engineering | ||||
Article 94, Volume 15, 15th International Conference on Applied Mechanics and Mechanical Engineering., May 2012, Page 1-12 PDF (268.9 K) | ||||
Document Type: Original Article | ||||
DOI: 10.21608/amme.2012.37251 | ||||
View on SCiNiTO | ||||
Authors | ||||
H. A. Elkaranshawy1; M. Ghazy2 | ||||
1Associate Professor, Dept. of Eng. Math and Phys. Alexandria University, Egypt. | ||||
2Assistant Professor, Dept. of Eng. Math and Phys. Alexandria University, Egypt. | ||||
Abstract | ||||
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 [1,2]. In this research work, the existence of the paradox zone during the sliding motion of a two-link manipulator is investigated. Parametric study is performed to investigate the effect of friction, link-length ratio, and link-mass ratio on the paradox zone. | ||||
Keywords | ||||
Two-link robot; Painlevé paradox; Friction; sliding robots; multibody system; unilateral constraint; and Dynamical system | ||||
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