Studies of Stick-Slip Friction, Presliding Displacement, and Hunting

2000 ◽  
Vol 124 (1) ◽  
pp. 111-117 ◽  
Author(s):  
Ruh-Hua Wu ◽  
Pi-Cheng Tung
Keyword(s):  
Coulomb Friction ◽  
High Speed ◽  
Experimental Studies ◽  
Friction Model ◽  
Smooth Transition ◽  
Stick Slip ◽  
Modified Model ◽  
Cyclic Motion ◽  
Coulomb Friction Model ◽  
The Stability

This paper presents the studies of stick-slip friction, presliding displacement and its influence on hunting. Experimental studies reveal that presliding displacement could affect the stability of hunting. A modified Coulomb friction model integrating presliding displacement in the microsliding regime is proposed to demonstrate such effect. Finally, step responses obtained from experiments and from the modified model are compared. These comparisons yield the conclusion that the transition of friction between the sticking state and the sliding state is smooth and continuous, not abrupt. Such a smooth transition of friction is critical to the studies of systems performing high-speed cyclic motion.

Asperity Spring Friction Model With Application to Belt-Drives

2003 ◽  
Author(s):  
Tamer M. Wasfy
Keyword(s):  
Finite Element ◽  
Coulomb Friction ◽  
Friction Model ◽  
Belt Drive ◽  
Finite Element Code ◽  
Time Step ◽  
Stick Slip ◽  
Normal Contact ◽  
Belt Drives ◽  
Coulomb Friction Model

An asperity spring friction model that uses a variable anchor point spring along with a velocity dependent force is presented. The model is incorporated in an explicit timeintegration finite element code. The friction model is used along with a penalty-based normal contact model to simulate the dynamic response of a two-pulley belt-drive system. It is shown that the present friction model accurately captures the stick-slip behavior between the belt and the pulleys using a much larger time-step than a pure velocity-dependent approximate Coulomb friction model.

Dynamic simulation of a parallel robot: Coulomb friction and stick–slip in robot joints

Robotica ◽  
2009 ◽  
Vol 28 (1) ◽  
pp. 35-45 ◽  
Author(s):  
Nidal Farhat ◽  
Vicente Mata ◽  
Álvaro Page ◽  
Miguel Díaz-Rodríguez
Keyword(s):  
Dynamic Simulation ◽  
Coulomb Friction ◽  
Parallel Robot ◽  
Friction Model ◽  
Robotic Systems ◽  
Stick Slip ◽  
Integration Interval ◽  
Simulation Process ◽  
Coulomb Friction Model ◽  
And Control

SUMMARYDynamic simulation in robotic systems can be considered as a useful tool not only for the design of both mechanical and control systems, but also for planning the tasks of robotic systems. Usually, the dynamic model suffers from discontinuities in some parts of it, such as the use of Coulomb friction model and the contact problem. These discontinuities could lead to stiff differential equations in the simulation process. In this paper, we present an algorithm that solves the discontinuity problem of the Coulomb friction model without applying any normalization. It consists of the application of an external switch that divides the integration interval into subintervals, the calculation of the friction force in the stick phase, and further improvements that enhance its stability. This algorithm can be implemented directly in the available commercial integration routines with event-detecting capability. Results are shown by a simulation process of a simple 1-DoF oscillator and a 3-DoF parallel robot prototype considering Coulomb friction in its joints. Both simulations show that the stiffness problem has been solved. This algorithm is presented in the form of a flowchart that can be extended to solve other types of discontinuity.

Drift Turning of Lateral Guided Vehicle With Sensor Steering Mechanism: Variable Kinetic Friction Model

2005 ◽  
Author(s):  
Yoshihiro Takita ◽  
Hisashi Date
Keyword(s):  
Friction Force ◽  
Coulomb Friction ◽  
High Speed ◽  
Static Friction ◽  
Friction Model ◽  
Tire Model ◽  
Kinetic Friction ◽  
Steering Mechanism ◽  
Three Stages ◽  
Coulomb Friction Model

In a previous paper, the simulated loci of high-speed cornering did not correspond with experimentally obtained results because the tire model used only the sticking in the Coulomb friction model. If the centrifugal force becomes larger than the cornering force of the tires, then the vehicle does not maintain the desired course. The cornering force is affected by the sticking or slipping condition of the tires. In order to simulate the high-speed cornering trajectory, the present paper assumes three stages of friction: low kinetic friction force at the beginning of slipping, the period of kinetic friction force, and the return to the static friction condition at small slip angles. In addition to the Rear motor Rear drive (RR) type vehicle, the Front motor Front drive (FF) type vehicle with a Sensor Steering Mechanism (SSM) and a 4-wheel steering mechanism is developed. In the experiments of present paper, both of these robots are run on an oval course at high speed. Numerical simulation and experimental results indicate effective prediction by the friction model.

scholarly journals Dynamic Analysis of Hydraulic Support with Single Clearance

2021 ◽  
Vol 67 (1-2) ◽  
pp. 53-66
Author(s):  
Qingliang Zeng ◽  
Yangyang Li ◽  
Yang Yang
Keyword(s):  
Dynamic Model ◽  
Coulomb Friction ◽  
Tangential Force ◽  
Friction Model ◽  
Force Model ◽  
Hydraulic Support ◽  
Working Performance ◽  
Coulomb Friction Model ◽  
The Stability ◽  
Normal Work

Hydraulic support is a complex parallel mechanism composed of multiple kinematic pairs. In the work of hydraulic support, clearances between kinematic pairs are inevitable, which lead to the deterioration of the support’s working performance, and may even affect support’s normal work in serious cases. To study the influence of clearances on hydraulic support and simultaneously avoid the mutual interference between different clearances, the normal and tangential force models of kinematic pairs with clearance are established, based on the Lankarani-Nikravesh contact force model and the Coulomb friction model. Furthermore, the dynamic model of the hydraulic support with single clearance is established by adding a clearance between the rear link and base and, according to the dynamic model of the hydraulic support, the research about the influence of clearance on the movement and force of hydraulic support is carried out, which proves the need to study the clearance of hydraulic support. Moreover, the influence of clearance, clearance size, and different oil inlet drive modes of front and rear columns on the stability of hydraulic support are analysed, and then the change of hydraulic support posture caused by clearance and clearance size is considered. The results show that clearance causes the movement and force of the rear link to fluctuate, which affects the stability of the hydraulic support. The clearance size affects the fluctuation degree of the movement and force, which is an important factor in the instability of hydraulic support. Also, the hydraulic support posture is changed by the clearance and clearance size. Different column oil inlet drive modes have different impacts on the clearance and have different effects on the stability of hydraulic support.

Dynamic Analysis of Planar Mechanical Systems With Clearance Joint Based on LuGre Friction Model

2018 ◽  
Vol 13 (6) ◽  
Author(s):  
Xiao Tan ◽  
Guoping Chen ◽  
Dongyang Sun ◽  
Yan Chen
Keyword(s):  
Contact Force ◽  
Coulomb Friction ◽  
Friction Model ◽  
Stick Slip ◽  
Stribeck Effect ◽  
Revolute Clearance Joint ◽  
Lugre Friction Model ◽  
Clearance Joint ◽  
Lugre Friction ◽  
Coulomb Friction Model

A computational methodology to model and analyze planar rigid mechanical system with stick–slip friction in revolute clearance joint is presented. In this work, the LuGre friction model, which captures the Stribeck effect and spring-like characteristics for stiction, is employed to estimate the stick–slip friction in revolute clearance joint. A hybrid contact force model, combining Lankarani–Nikravesh model, and improved elastic foundation model, is used to establish contact model. The generalized-α method, which can dissipate the spurious high-frequency responses caused by the strongly nonlinear contact force and friction in numerical simulation, is adopted to solve the equations of motion and make the result closer to the physics of the problem. A slider-crank mechanism with revolute clearance joint based on LuGre friction model and modified coulomb friction model are simulated, respectively, and utilized to discuss the influences of the Stribeck effect and stiction on dynamic behavior of the mechanism. Different test scenarios are considered to investigate the effects of the clearance size and friction coefficient on the dynamic response of the mechanism. The results show that the mechanism based on LuGre friction model has better energy dissipation characteristics, while there are stiction phenomena of the contacting surfaces in many cases. When the relative velocity is zero or close to zero, the contact force of mechanism based on the LuGre friction model is significantly lower than that based on the modified coulomb friction model. Clearance size and friction coefficient obviously affect dynamic behavior of the mechanism.

Analysis, Design, and Modeling of a Rotary Vane Engine (RVE)

2004 ◽  
Vol 126 (4) ◽  
pp. 711-720 ◽  
Author(s):  
B. V. Librovich ◽  
A. F. Nowakowski
Keyword(s):  
Coulomb Friction ◽  
Simple Structure ◽  
Dynamical Behavior ◽  
Friction Model ◽  
Reciprocating Engine ◽  
Torque Transmission ◽  
Analysis Design ◽  
Work Units ◽  
Coulomb Friction Model ◽  
Moving Parts

This paper introduces a mathematical model to analyze the dynamic behavior of a novel rotary vane engine (RVE). The RVE can be considered to have a number of advantages when compared to a majority of other reciprocating engine types. The advantages are found in the simple structure and the small number of moving parts. In this paper the geometrical structure and dynamical behavior of engines with a different number of work units is considered in detail. This has been examined through a study of torque transmission with a particular reference to how this is affected by the noncircular geometry of gear pitch curves. Using the Coulomb friction model, consideration has been given to the mechanical power loss due to friction in different parts of the engine, which must be taken into account. The study also proposes a possible method for balancing of asymmetric cogwheels. The analysis concludes that by using an appropriate design and arrangement of cogwheels and all moving parts, vibration can be attenuated due to impulsive gas torque.

Control for Robots With Braking Actuators in a Uniform Force Field

2015 ◽  
Author(s):  
Erlend Framstad ◽  
Mark D. Bedillion
Keyword(s):  
Force Field ◽  
Control Strategy ◽  
Coulomb Friction ◽  
Energy Equation ◽  
High Accuracy ◽  
Friction Model ◽  
Second Law ◽  
Inclined Plane ◽  
Position And Orientation ◽  
Coulomb Friction Model

This paper concerns the control strategy of a robot with controllable brakes placed in a uniform force field. Without loss of generality this force field is assumed to be gravity, and the robot to be an object resting on an inclined plane. The controller’s objective is then to use the brakes to lead the robot into a desired position and orientation. The system’s dynamics were derived from Newton’s second law with a Coulomb friction model. The controller was derived from geometric properties and the energy equation. The controller was then tested using Matlab and Simulink on the dynamics that were derived. The results of the simulation shows high accuracy even with some disturbances, and uncalibrated parameters.

scholarly journals Recent Developments and Trends in the Friction Testing for Conventional Sheet Metal Forming and Incremental Sheet Forming

Metals ◽  
2019 ◽  
Vol 10 (1) ◽  
pp. 47 ◽  
Author(s):  
Tomasz Trzepiecinski ◽  
Hirpa G. Lemu
Keyword(s):  
Sheet Metal ◽  
Sheet Metal Forming ◽  
Metal Forming ◽  
Coulomb Friction ◽  
Sheet Forming ◽  
Friction Model ◽  
Friction Resistance ◽  
Friction Testing ◽  
Coulomb Friction Model

Friction is the main phenomenon that has a huge influence on the flow behavior of deformed material in sheet metal forming operations. Sheet metal forming methods are one of the most popular processes of obtaining finished products, especially in aerospace, automobile, and defense industries. Methods of sheet forming are carried out at different temperatures. So, it requires tribological tests that suitably represent the contact phenomena related to the temperature. The knowledge of the friction properties of the sheet is required for the proper design of the conditions of manufacturing processes and tools. This paper summarizes the methods used to describe friction conditions in conventional sheet metal forming and incremental sheet forming that have been developed over a period of time. The following databases have been searched: WebofKowledge, Scopus, Baztool, Bielefield Academic Search Engine, DOAJ Directory of Open Access Journals, eLibrary.ru, FreeFullPdf, GoogleScholar, INGENTA, Polish Scientific Journals Database, ScienceDirect, Springer, WorldCat, WorldWideScience. The English language is selected as the main source of review. However, in a limited scope, databases in Polish and Russian languages are also used. Many methods of friction testing for tribological studies are selected and presented. Some of the methods are observed to have a huge potential in characterizing frictional resistance. The application of these methods and main results have also been provided. Parameters affecting the frictional phenomena and the role of friction have also been explained. The main disadvantages and limitations of the methods of modeling the friction phenomena in specific areas of material to be formed have been discussed. The main findings are as follows—The tribological tests can be classified into direct and indirect measurement tests of the coefficient of friction (COF). In indirect methods of determination, the COF is determined based on measuring other physical quantities. The disadvantage of this type of methods is that they allow the determination of the average COF values, but they do not allow measuring and determining the real friction resistance. In metal forming operations, there exist high local pressures that intensify the effects of adhesion and plowing in the friction resistance. In such conditions, due to the plastic deformation of the material tested, the usage of the formula for the determination of the COF based on the Coulomb friction model is limited. The applicability of the Coulomb friction model to determine the COF is also very limited in the description of contact phenomena in hot SMF due to the high shear of adhesion in total contact resistance.

Modelling of the Steel Pushing V-Belt Continuously Variable Transmission

1994 ◽  
Vol 208 (1) ◽  
pp. 13-27 ◽  
Author(s):  
J D Micklem ◽  
D K Longmore ◽  
C R Burrows
Keyword(s):  
Mathematical Model ◽  
Coulomb Friction ◽  
Continuously Variable Transmission ◽  
Friction Model ◽  
Full Potential ◽  
Shear Connection ◽  
System A ◽  
Variable Transmission ◽  
Coulomb Friction Model ◽  
Good Agreement

The steel pushing V-belt continuously variable transmission (CVT) is now commercially available in the automobiles of a number of manufacturers but to date it has not led to a significant reduction in fuel consumption. To develop its full potential it is necessary to have a good mathematical model of the system. A number of models have been described in recent years but all make use of a Coulomb friction model for the shear connection between the belt and the pulleys. This paper proposes a friction model based on elastohydrodynamic theory. It is shown that there is good agreement between measured and calculated slip values for the transmission which justifies use of the model.

Hertzian Damping, Tooth Friction and Bending Elasticity in Gear Impact Dynamics

1987 ◽  
Vol 109 (2) ◽  
pp. 189-196 ◽  
Author(s):  
D. C. H. Yang ◽  
J. Y. Lin
Keyword(s):  
Coulomb Friction ◽  
High Speed ◽  
Impact Dynamics ◽  
Relative Importance ◽  
Impact Model ◽  
Bending Energy ◽  
Modified Model ◽  
Bending Elasticity ◽  
Gear Geometry ◽  
Simulation Package

This investigation presents an analytical and computer-aided study on the dynamics of meshing gears with backlash. Based on the rotary gear impact model of Yang and Sun, a modified model with additional considerations of bending deflection, axial compression, and Coulomb friction is developed. Despite the complexity in gear geometry, formulas for modeling these phenomena are all analytically derived. A computer simulation package is developed for this model. Consequently gear impact dynamics and the relative importance among the included considerations are studied. Results show that the energy loss due to the Hertzian damping is usually larger than that from the Coulomb friction, and the axial compressive energy is negligible in comparison to tooth bending energy. It is believed that the model and the finding in this study contribute toward understanding of impact behaviors of high-speed geared systems with frequent stop-and-start or intermittent motions.

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