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1 International Journal of Applied Mechanics and Engineering

1 2010

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Dynamic analysis of mechanisms with joint friction in the presence of redundant constraints

Frączek J., Wojtyra M.

International Journal of Applied Mechanics and Engineering

2010

Vol. 15, no 3

685-697

This paper discusses the problem of calculating the joint friction forces in redundantly constrained rigid body mechanisms, described in absolute Cartesian coordinates. At the beginning the systems without joint friction are considered. It is shown that, under certain conditions, selected joint reaction forces can be uniquely determined despite the redundant constraints existence. A numerical method of such joints detection is proposed. Afterwards the equations of motion for mechanisms with redundant constraints and Coulomb friction in joints are formulated. In general, motion of such system is not defined uniquely. If, however, friction forces appear only in joints with uniquely determined reactions, motion can be determined uniquely. An example of dynamic analysis of a mechanism with redundant constraints and joint friction is presented.