Abstract
This paper presents an analysis of the power losses due to the friction between the components of the spherical joints, belonging to a 6RSS parallel mechanism. The determination of power losses in spherical joints has been done with an application where the characteristic point follows a closed space curve. The trajectory of the point on the convex semicuple in contact with the concave semicuple it has been determined by using facilities of the CATIA software.
Highlights
The paper presents a method for determining the power losses for a parallel mechanism by friction between the components of the spherical joints that form its six kinematic chains
This paper presents an original method for determining the power losses due to friction between the components of the spherical joints belonging to a 6RSS parallel mechanism
The determination of these power losses in spherical joints was done in an application where, the characteristic point P follows a closed space curve, neglecting the inertial forces and the motion being very slow
Summary
The paper presents a method for determining the power losses for a parallel mechanism by friction between the components of the spherical joints that form its six kinematic chains. The importance of spherical joints has led many researchers to carry out numerous studies to determine their influence on the dynamics of mechanical systems [1,2,3,4]. The contact forces acting in such joints are of a particular importance in the design and analysis of spherical joints [5,6,7]. It was analyzed, based on contact forces, the energy dissipated in a spherical joint [8,9]. Recent studies have analyzed how the contact forces within the spherical joints that form space structures affect their stability and precision [10-12]. Liu et al [13] have developed a mathematical model for approximation of the dimensional tolerance of a spherical joint which is based on distributed elastic forces
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