Abstract
A method is presented to develop the “force-constraint” equations enforced by a spherical joint with Coulomb friction. The spherical joint is assumed to behave instantaneously as a revolute joint. This instantaneous revolute will have an axis along the instant screw axis between the two links connected by the joint. The effective radius of the instantaneous revolute will be a function of joint loading and the coefficient of friction.
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Copyright © 1992 by The American Society of Mechanical Engineers
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