Friction Modeling of a Robot Driven by Worm Gear transmission

Abstract

This paper presents the friction modeling of a rescue robot driven through the worm gear transmission. In the modeling, the characteristics of the worm gear are investigated by static and dynamic analyses. Especially we examine the dependency between break-away joint torques and the direction of motion and/or the loading torque. The worm gear friction parameters of a physical robot are identified by experimental tests. A linear regression model is obtained by using the least square method.