Abstract
In this paper the effect of prismatic joint inertia on dynamics of planar kinematic chains with friction is investigated. The mathematical model of a planar kinematic chain consisting of a prismatic joint sliding along a link that is connected to a revolute joint is developed using Lagrange’s equations. The influence of the slider inertia on the position of the application point of the joint forces is analyzed. The influence of the slider link inertia on the dynamic response of a spatial robot arm with feedback control is analyzed using Kane’s formulation. Larger values of the initial condition response characteristics are observed for larger values of the slider link inertia. Also, the effect of the prismatic joint inertia on the dynamic parameters of a planar mechanism is exemplified using inverse dynamics based on the Newton–Euler method. Numerical results are obtained and compared for zero and larger values of the prismatic joint inertia at different speeds. 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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