2002/09/01 by Elena García, P. González de Santos, Carlos Canudas de Wit · 2 citations
Engineering · #Gear and Bearing Dynamics Analysis #Hydraulic and Pneumatic Systems #Dynamics and Control of Mechanical Systems
paper · doi:10.1177/0278364902021009877
openalex publication_date 2002/09/01 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/02
Recent research on friction in robot joints and transmission systems has considered meshing friction a position-dependent friction component. However, in this paper we show experimental evidence that meshing friction depends highly on joint speed. We identify the meshing friction in the gearboxes of a robotic leg, and we propose a new mathematical model that considers the rate dependency of meshing friction. The resulting model is validated through experimentation. Results show that meshing friction is responsible for friction torque oscillations with an amplitude up to 25 percent of the average friction torque at low speeds. Therefore, this friction component should be taken into account if an accurate friction model is desired.