Dynamic Effect of Prismatic Joint Inertia on Planar Kinematic Chains
نویسندگان
چکیده
The effect of prismatic joint inertia on dynamics of planar kinematic chains with friction is investigated. The influence of the prismatic joint inertia on the position of the application point of the joint reaction forces and on the dynamic response of a planar robot arm with feedback control is analyzed. Larger values of the initial condition response characteristics are observed for larger values of the slider link inertia. The numerical simulations reveal that the effect of slider inertia may be negligible at low speeds, but becomes significant at high speeds.
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