PLANAR MECHANISMS WITH FRICTION

摘要

We consider a planar, R-RPR mechanism, with three moving links, with revolute and prismatic joints. The driver link is 1, the connecting rod is 2 and the slider is the link 3. The driver and the slider are connected to the ground with revolute joints. Between the link 2 and the slider is a prismatic joint. In this study we consider the Kane's equations for the direct dynamics with friction in the slider joint and the inverse dynamics equations.