Effect of Friction Forces in Robotic Mechanism Joints on the Dynamic Analysis

Abstract

Dynamic analysis of parallel robotic mechanisms plays a vital role in the design and control of such robotic mechanisms. To simplify the dynamic analysis formulation, many researches had been done assuming the robotic mechanism joints as ideal joints (without friction). This paper represents a novel mathematical model for evaluation of friction forces, torques acting in the spherical, prismatic joints of parallel robotic mechanism and their effect on the dynamic formulation of any parallel robotic mechanism. The aim of this paper is to obtain a new mathematical formulation for evaluation of the dynamic analysis in non – ideal robotic mechanism. The results show that the friction forces and torques acting on the robotic mechanism joints have actual effects on the actuators to implement the same tasks. The actuators forces shall be increased about ten percentages than the power of the actuators in case of ideal robotic joints