High Fidelity Haptic Rendering of Stick-Slip Frictional Contact With Deformable Objects in Virtual Environments Using Multi-Rate Simulation

2007 ◽  
Author(s):  
Paul Jacobs ◽  
M. Cenk Cavusoglu
Keyword(s):  
Virtual Environments ◽  
Frictional Contact ◽  
Haptic Rendering ◽  
High Fidelity ◽  
Deformable Objects ◽  
Stick Slip

Experimental and numerical analysis of frictional contact scenarios: from macro stick–slip to continuous sliding

Meccanica ◽  
2014 ◽  
Vol 50 (3) ◽  
pp. 649-664 ◽  
Author(s):  
Davide Tonazzi ◽  
Francesco Massi ◽  
Laurent Baillet ◽  
Antonio Culla ◽  
Mariano Di Bartolomeo ◽  
...  
Keyword(s):  
Numerical Analysis ◽  
Frictional Contact ◽  
Stick Slip

PREDICATION FOR RELATIVE MOTION OF THE COLONOSCOPE IN COLONOSCOPY

2013 ◽  
Vol 13 (03) ◽  
pp. 1350023 ◽  
Author(s):  
WU BIN CHENG ◽  
MICHAEL A. J. MOSER ◽  
SIVARUBAN KANAGARATNAM ◽  
WEN JUN ZHANG
Keyword(s):  
Frictional Force ◽  
Frictional Contact ◽  
Linear Complementarity ◽  
Intestinal Wall ◽  
Deformable Objects ◽  
Dynamic Friction ◽  
Unilateral Constraints ◽  
Common Procedure ◽  
Mechanical Compliance ◽  
Signorini's Problem

Colonoscopy is common procedure frequently carried out. It is not without its problems, which include looping formation. Looping formation prevents the tip of the colonoscope itself from advancing, thus further probing induces a risk of perforation, significant patient discomfort, and failure of colonoscopy. During colonoscopy, the manipulated colonoscope for intubation in the colon goes through the friction between the colonoscope and the colon. Due to major frictional force, the sigmoidal colon forms looping with the scope during intubation. The interactive frictional force between the colon and the colonoscope is highly complex because of frictional contact between two deformable objects. In this paper, contact force computation was formulated into a linear complementarity problem (LCP) by linearizing Signorini's problem, which was adapted into non-interpenetration with unilateral constraints. Frictional force was computed by the mechanical compliance of finite element method (FEM) models with the consideration of dynamic friction between the colonoscope and the intestinal wall. Furthermore, we presented a mathematical model of the elongation of the colon that predicts the motion of scope relative to the intestinal wall in colonoscopy.

Vibration and Analysis of Multi-Disk Friction Systems

1998 ◽  
Author(s):  
Henric Larsson ◽  
Kambiz Farhang
Keyword(s):  
Frictional Contact ◽  
Vibration Characteristics ◽  
Lumped Parameter Model ◽  
Stick Slip ◽  
Friction Forces ◽  
Lumped Parameter ◽  
Modes Of Vibration ◽  
The Coefficient Of Friction ◽  
Slip Region ◽  
Stiffness And Damping

Abstract The paper presents a lumped parameter model of multiple disks in frictional contact. The contact elastic and dissipative characteristics are represented by equivalent stiffness and damping parameters in the axial as well as the torsional directions. The formulation accounts for the coupling betwen the axial and angular motions by viewing the contact normal force to be the result of axial behavior of the system. The frictional contact of two disks in contact is modeled in two dynamic states (i.e. sticking and slipping state) having individual lumped parameter models and the conditions that control the switching between the two states are established. The friction forces are represented by assuming the coefficient of friction to be a function of the sliding velocity, varying exponentially from its static value at zero relative velocity to its kinetic value at high velocities. A computer simulation of an eight-rotor disk assembly is presented. The torsional vibration characteristics and how it is liked to the axial modes of vibration is analyzed. The vibration characteristics in the transient, steady-state and stick-slip region is compared. In the stick-slip region, the angular velocity of the interfaces in frictional contact is depicted and the sticking and slipping states are defined. It is shown that the duration of slip is approximately constant and the duration of stick increases almost exponentially until a final sticking is achieved.

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