A Novel Explicit Canonical Dynamic Modeling Method for Multi-Rigid-Body Mechanisms Considering Joint Friction
Zhenhao Guo,
Hehua Ju,
Kaimeng Wang
Abstract:Friction is an inevitable phenomenon in mechanical systems that affects the dynamic characteristics of systems. To reduce the modeling complexity of complex multi-rigid-body mechanisms, a novel explicit canonical dynamic modeling method considering joint friction is proposed. Based on the explicit dynamic modeling theory that we have proposed, the solution of the constraint force required by the joint friction modeling of multi-rigid-body mechanisms is derived and improved, which greatly simplifies the solutio… Show more
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