Elkaranshawy, H., Ghazy, M. (2012). EFFECT OF THE LINK-LENGTH RATIO ON PAINLEVÉ PARADOX FOR A SLIDING TWO-LINK ROBOT. test, 15(15th International Conference on Applied Mechanics and Mechanical Engineering.), 1-12. doi: 10.21608/amme.2012.37251
H. A. Elkaranshawy; M. Ghazy. "EFFECT OF THE LINK-LENGTH RATIO ON PAINLEVÉ PARADOX FOR A SLIDING TWO-LINK ROBOT". test, 15, 15th International Conference on Applied Mechanics and Mechanical Engineering., 2012, 1-12. doi: 10.21608/amme.2012.37251
Elkaranshawy, H., Ghazy, M. (2012). 'EFFECT OF THE LINK-LENGTH RATIO ON PAINLEVÉ PARADOX FOR A SLIDING TWO-LINK ROBOT', test, 15(15th International Conference on Applied Mechanics and Mechanical Engineering.), pp. 1-12. doi: 10.21608/amme.2012.37251
Elkaranshawy, H., Ghazy, M. EFFECT OF THE LINK-LENGTH RATIO ON PAINLEVÉ PARADOX FOR A SLIDING TWO-LINK ROBOT. test, 2012; 15(15th International Conference on Applied Mechanics and Mechanical Engineering.): 1-12. doi: 10.21608/amme.2012.37251

EFFECT OF THE LINK-LENGTH RATIO ON PAINLEVÉ PARADOX FOR A SLIDING TWO-LINK ROBOT

The International Conference on Applied Mechanics and Mechanical Engineering
Article 94, Volume 15, 15th International Conference on Applied Mechanics and Mechanical Engineering., May 2012, Pages 1-12    PDF (268.9 K)
Document Type: Original Article
DOI: 10.21608/amme.2012.37251
Authors
H. A. Elkaranshawy1; M. Ghazy2
1Associate Professor, Dept. of Eng. Math and Phys. Alexandria University, Egypt.
2Assistant Professor, Dept. of Eng. Math and Phys. Alexandria University, Egypt.
Abstract
ABSTRACT
For a rigid body sliding on a rough surface, a range of uncertainty or non-uniqueness
of solution could be found, which is termed: Painlevé paradox. Painlevé paradox is
the reason of a wide range of bouncing motion, observed during sliding of robotic
manipulators on rough surfaces [1,2]. In this research work, the existence of the
paradox zone during the sliding motion of a two-link manipulator is investigated.
Parametric study is performed to investigate the effect of friction, link-length ratio,
and link-mass ratio on the paradox zone.
Keywords
Two-link robot; Painlevé paradox; Friction; sliding robots; multibody system; unilateral constraint; and Dynamical system
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