期刊
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
卷 21, 期 9, 页码 761-771出版社
SAGE PUBLICATIONS LTD
DOI: 10.1177/0278364902021009877
关键词
meshing friction; position-dependent friction; friction identification; friction modelling
类别
Recent research on friction in robot joints and transmission systems has considered meshing friction a position-dependent friction component. However in this paper we show experimental evidence that meshing friction depends highly on joint speed. We identify the meshing friction in the gearboxes of a robotic leg, and we propose a new mathematical model that considers the rate dependency of meshing friction. The resulting model is validated through experimentation. Results show that meshing friction is responsible for friction torque oscillations with an amplitude up to 25 percent of the average friction torque at low speeds. Therefore, this friction component should be taken into account if an accurate friction model is desired.
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