Abstract:

Are stated some issues of dynamic research of manipulators and robots with consideration of friction in kinematic pairs. Are stated the methods of determination of friction in rotary, spherical, spherical with finger, cylindrical and translation pairs. The obtained results promote to determination of real laws of motion of manipulators and robots under study, as well as improve the precision of positioning of gripper.

Keywords: manipulator; robot; kinematic pairs; dynamic analysis; friction