http://www.cnr.it/ontology/cnr/individuo/prodotto/ID97646

Self-locking analysis in multi degree of freedom mechanism and its application to parallel kinematic machines (Contributo in atti di convegno)

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Self-locking analysis in multi degree of freedom mechanism and its application to parallel kinematic machines (Contributo in atti di convegno) (literal)

Anno

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Leonesio M., Bianchi G. (2005)
Self-locking analysis in multi degree of freedom mechanism and its application to parallel kinematic machines
in Multibody dynamics 2005 - Eccomas thematic conference, Madrid, 21-24th June 2005
(literal)

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Titolo

Self-locking analysis in multi degree of freedom mechanism and its application to parallel kinematic machines (literal)

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Abstract

In this paper, a new methodology to forecast self-locking condition in mechanism with more than 1 D.o.F. is suggested. First, the adopted friction model is introduced: it is derived from coulombian one after a linear approximation. Then, a mathematical elaboration shows the existence of an algebraic loop in the flow of forces: friction forces depend on normal forces that, themselves, depend on friction forces. The limit condition for self-locking occurs when the loop presents not-null solutions. An implementation of a \"self-locking tool\" based on this methodology is presented: it is able to forecast the most critical motion and friction coefficients that provoke mechanism self-locking. Finally, as example, an application of the tool on a two degree of freedom planar parallel mechanism shows the effectiveness of the suggested approach to self-locking analysis. (literal)

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