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37251

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

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Last updated: 04 Jan 2025

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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.

DOI

10.21608/amme.2012.37251

Keywords

Two-link robot, Painlevé paradox, Friction, sliding robots, multibody system, unilateral constraint, and Dynamical system

Authors

First Name

H.

Last Name

Elkaranshawy

MiddleName

A.

Affiliation

Associate Professor, Dept. of Eng. Math and Phys. Alexandria University, Egypt.

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Orcid

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First Name

M.

Last Name

Ghazy

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Affiliation

Assistant Professor, Dept. of Eng. Math and Phys. Alexandria University, Egypt.

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Volume

15

Article Issue

15th International Conference on Applied Mechanics and Mechanical Engineering.

Related Issue

5891

Issue Date

2012-05-01

Receive Date

2019-06-26

Publish Date

2012-05-01

Page Start

1

Page End

12

Print ISSN

2636-4352

Online ISSN

2636-4360

Article File

AMME_Volume 15_Issue 15th International Conference on Applied Mechanics and Mech….pdf

PDF . 275.4kB

Link

https://amme.journals.ekb.eg/article_37251.html

Detail API

https://amme.journals.ekb.eg/service?article_code=37251

Order

94

Type

Original Article

Type Code

831

Publication Type

Journal

Publication Title

The International Conference on Applied Mechanics and Mechanical Engineering

Publication Link

https://amme.journals.ekb.eg/

MainTitle

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

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Article

Created At

22 Jan 2023