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

Abstract

For a rigid body sliding on a rough surface, a range of uncertainty or non-uniquenessof solution could be found, which is termed: Painlevé paradox. Painlevé paradox isthe reason of a wide range of bouncing motion, observed during sliding of roboticmanipulators on rough surfaces [1,2]. In this research work, the existence of theparadox 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.