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Evaluation of Friction Forces in the Joints of Gough-Stewart Manipulator

Authors: Hassan M. Alwan --- Sameh Fareed Hasan
Journal: Engineering and Technology Journal مجلة الهندسة والتكنولوجيا ISSN: 16816900 24120758 Year: 2016 Volume: 34 Issue: 6 Part (A) Engineering Pages: 1221-1234
Publisher: University of Technology الجامعة التكنولوجية


Many of researchers neglected the effect of friction phenomena in the robotics analysis and the others investigated and studied the behavior of friction phenomena in robot joints with one type of friction. The aims of this paper is to account and investigate the friction forces in all the joints of Gough-Stewart manipulator taking into consideration two types of friction(i.e. viscous and coulomb friction) . A mathematical model is derived to evaluate the reaction forces developed in robot joints due to movement of robot. Computer codes are written using MATLAB software to solve the equations derived to simulate the friction force in the joints.

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