''Stick-Slip'' motion of open manipulators with flexible drives and dry friction in joints

An analysis of the phenomenon of ''stick-slip'' vibrations of arms of open manipulators with flexible drives and dry friction in joints is carried out in the paper. A method of physical and mathematical modelling of such systems for the purposes of dynamic analysis is presented. An example of dynamic analysis of a manipulator with revolute and prismatic joints has been carried out. Finally, some results of numerical simulation, illustrating the phenomenon of ''stick-slip'' motion, are presented.