Table 3: Values of friction coefficients.

ParametersNo vibrationWith vibration

Link Coulomb const. -link= 0.05
Link Viscose const. -link= 0.1
Motor coulomb const.β = 0.83,  A = 3.6
β = 9,  c = 1
β = 0.3,  A = 1.5
β = 3.1,  c = 1
Motor Viscose const. -motor = 1.43