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.
Elkaranshawy, H., & Ghazy, M. (2012). EFFECT OF THE LINK-LENGTH RATIO ON PAINLEVÉ PARADOX FOR A SLIDING TWO-LINK ROBOT. The International Conference on Applied Mechanics and Mechanical Engineering, 15(15th International Conference on Applied Mechanics and Mechanical Engineering.), 1-12. doi: 10.21608/amme.2012.37251
MLA
H. A. Elkaranshawy; M. Ghazy. "EFFECT OF THE LINK-LENGTH RATIO ON PAINLEVÉ PARADOX FOR A SLIDING TWO-LINK ROBOT". The International Conference on Applied Mechanics and Mechanical Engineering, 15, 15th International Conference on Applied Mechanics and Mechanical Engineering., 2012, 1-12. doi: 10.21608/amme.2012.37251
HARVARD
Elkaranshawy, H., Ghazy, M. (2012). 'EFFECT OF THE LINK-LENGTH RATIO ON PAINLEVÉ PARADOX FOR A SLIDING TWO-LINK ROBOT', The International Conference on Applied Mechanics and Mechanical Engineering, 15(15th International Conference on Applied Mechanics and Mechanical Engineering.), pp. 1-12. doi: 10.21608/amme.2012.37251
VANCOUVER
Elkaranshawy, H., Ghazy, M. EFFECT OF THE LINK-LENGTH RATIO ON PAINLEVÉ PARADOX FOR A SLIDING TWO-LINK ROBOT. The International Conference on Applied Mechanics and Mechanical Engineering, 2012; 15(15th International Conference on Applied Mechanics and Mechanical Engineering.): 1-12. doi: 10.21608/amme.2012.37251
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