Abstract
This study aims to discuss a model of friction on the inner surfaces of bended tubes which can be applied to flexible shaft. The subjects in this study are the friction between an inner resin tubes guided in outer tube. When the outer tube is bent, the friction increases drastically depending on the curvature and other conditions in spite low friction is expected. The friction model expresses the effect of curvature radius and angle in contact on the friction while coulomb friction is assumed in local contact area. The parameter that cannot be derived theoretically was determined by experiment. To verify the effectiveness of the model, verification experiments were conducted.
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